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Potentially better motion model #1

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satrajit-chatterjee opened this issue Oct 7, 2021 · 1 comment
Open

Potentially better motion model #1

satrajit-chatterjee opened this issue Oct 7, 2021 · 1 comment
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enhancement New feature or request

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@satrajit-chatterjee
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satrajit-chatterjee commented Oct 7, 2021 •
edited by bradygm
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Problem

Currently we are using a unicycle motion model with proportionality gains that controls heading and vertical velocity.

However, this could potential issues.

Firstly, for our horizontal motion dynamics, we may fail to enter target waypoints at desired headings if they are too far apart.
@bradygm bradygm added the enhancement New feature or request label Feb 16, 2022
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bradygm commented Mar 9, 2022

Could swap out for dubins following using my previous sim.

@andrewjong andrewjong reopened this Mar 17, 2022
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@andrewjong @bradygm @satrajit-chatterjee