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Neuer Regler #83

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mp4096 opened this issue Nov 7, 2016 · 3 comments

mp4096 commented Nov 7, 2016

Context

Available sensor data

encoder at the motor
IMU (3-axis accelerations, 3-axis gyro)

-> linear velocity and angular velocity after Kalman filtering

Available environment data

Path given by a polygonal chain (road lane geometry + obstacles)
Obstacles are already in this path
Current path context: Curve begin, curve end, straight line
Speed limit from road signs
Maximum technically feasible velocity (sensor limits etc.)

Available controls

Motor speed
Steering angles, front and rear

Control goals

Moderate slip / drifting (do not drift away out of the curves)
Maintain reference velocity (depends on the current path context and speed limits)

Author

mp4096 commented Nov 8, 2016 •

edited

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Is being developed in https://github.com/tum-phoenix/control-systems

Member

Phibedy commented Jan 18, 2017

Muss man noch testen

Phibedy added this to the CC2017 Endspurt milestone

Member

Phibedy commented Feb 5, 2017

Zum nächsten Cup :)

Phibedy removed this from the CC2017 Endspurt milestone

xXBasti mentioned this issue

Trajectory Tracking Controller tum-phoenix/drive_ros_trajectory_tracking_control#2

Open

4 tasks

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