In the last chapter we gave a detailed explanation of modelling, in particular kinematic modelling. Our aim in developing the guidance algorithms is to guide the vehicle along a predefined path as accurately as possible despite the presence of disturbances that cause it to drift off course. In other words, the task of the control inputs applied to the vehicle is to eliminate all the errors with respect to the prescribed reference path. Hence, it is beneficial for us to obtain equations describing the evolution of the errors in position and heading of the vehicle. If we term these quantities as offsets, then a set of equations describing the evolution of these offsets may be called offset equations, which are non-other than state equations with offsets as state variables. Just as the state equations describing the evolution of position and heading of the vehicle contained control inputs, the offset equations will also have the same control inputs such as steering and propulsion that may be chosen appropriately through control design to eliminate the offsets or to drive the offsets to zero. If the offsets are successfully maintained at or near zero then the vehicle is following the intended path.
Offset Models of Vehicles
Spr.Tracts in Adv.Robotics
2020-05-01
11 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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