[ODE] nonholonomic vehicle path following

Jon Watte (ODE) hplus-ode at mindcontrol.org
Sun Jun 10 23:29:36 MST 2007

Given that ODE is a semi-implicit first-order integrator, much like most 
other game physics engines, that is correct. There will always be some 
error. In fact, if the circle is parametrically defined, there will 
always be some error with any kind of numerical integration of this 
kind. The question you need to answer is "how big an error can I 
accept," and then see whether you can tweak the tunable parameters 
(response force, dampening, time step size, etc) to hit that goal. 
That's true for any numerical integration method; not just ODE.


          / h+

Ke wrote:
> Thank you for your reply.
> So our 4-wheeled vehicle simulated by ODE is not able
> to perform such path following tasks accurate enough.
> For example, say, we asks the vehicle built by ODE, to
> follow a given circle path. The trajectory of the
> vehicle would not be exactly same as the given one,
> due to the accuracy of ODE's integrator and solver.
> Please point me out if I am wrong.
> Thanks again and we appreciate your input.
> Sincerely,
> Ke

More information about the ODE mailing list