Following a trajectory
Turning a plan into motion: a path is geometry and a trajectory is geometry with a clock, and between them sit velocity profiles, cross-track error, pure pursuit and the look-ahead distance.
Start in the simulator- U10.1 A path and a trajectory The same geometry with and without a clock attached, and why the clock changes what you can check.
- U10.2 Velocity profiles The trapezoid, the triangle when there is no room to reach cruise, and what jerk costs you.
- U10.3 Cross-track error Splitting the error into along and across the path, and a controller for the half that matters.
- U10.4 Pure pursuit Chase a point a fixed distance ahead on the path, and choose the one number that decides everything.
- U10.5 Feedforward and feedback A ramp leaves a proportional controller permanently behind, and the model knows how to fix it.
- U10.6 How far behind Dead band, lag and loop period, measured as the centimetres the robot is behind its own plan.
- U10.7 Project: drive the route A full route through waypoints, marked on how closely it was followed and how long it took.