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gosundy avatar gosundy commented on July 28, 2024

参考控制量[v,delta]

ref_delta = math.atan2(L*k, 1)

from chhrobotics.

CHH3213 avatar CHH3213 commented on July 28, 2024

k是曲率，满足曲率半径R=1/k，控制量delta它满足tan delta=L/R=kL。所以可以通过反正切得到控制量的表达式，详情可进一步查看【【自动驾驶】车辆运动学模型 - CSDN App】http://t.csdnimg.cn/FdGWd的以后轴为中心建立的运动学模型

from chhrobotics.

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