[ODE] nonholonomic vehicle path following

Jon Watte (ODE) hplus-ode at mindcontrol.org
Mon Jun 11 13:37:17 MST 2007

STenyaK (Bruno González) wrote:
> If that's the case, try to feed it wrong data (make the car think it
> has to go further to the left/right than it really has). Then maybe
> apply some dampening to the steering wheel, so that it doesn't swerve
> left-right like mad when it's actually following the desired path
> correctly.

The words to google for are "PID controller."
Also, it helps with the hysteresis if you steer based on a projected 
near future (forward extrapolated value), instead of based on the 
current data.


          / h+

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