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[DPRG] Turning methods

Subject: [DPRG] Turning methods
From: John Abshier jabshier at kc.rr.com
Date: Wed Jul 30 19:50:15 CDT 2008

You could look forward a look-ahead distance along the path and steer to
that point.

 

X:  look-ahead point     O:  path points  *: robot location

 

 

O---------------------O         O--X------------------O
O----X----------------O

|                               |                                 *

|                               |                                 |

|                               *                                 |

X                               |                                 |

|                               |                                 |

|                               |                                 |

|                               |                                 |

|                               |                                 |

*                               |                                 |

|                               |                                 |

O                               O                                 O

 

I cannot draw the line from the * to the X, but that is the direction for
the robot to steer.  The look-ahead length is a tunable parameter.  The
disadvantage to this method is that the robot will not go directly to the
path point with the 90 degree turn. It will cut the corner.

 

Another solution is to not input paths with sharp turns, but rather use a
smooth path.

 

John Abshier

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