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Hypha-ROS / hypharos_racecar

Low-cost, high speed (600USD, 3 m/s) 1/10 Autonomous ROS RaceCar (with tutorial for beginner)
https://hypharosworkshop.wordpress.com/
GNU Lesser General Public License v3.0
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the relationship of Lfw & Vcmd #19

Closed TangHengxuan closed 5 years ago

TangHengxuan commented 5 years ago

May I ask why the variable Lfw equals to (Vcmd2.24)/3. I learnd from other pages that selected Lfw = Vcmd2.24. Thank you so much , I am confused a lot. Looking forward to your answer！！

haochihlin commented 5 years ago

Hi @TangHengxuan , As you mentioned, the value depicted in the paper is Lfw = Vcmd2.24. However, it assumed there is a closed loop controller on car velocity. In racecar (ver.1), we can not measure the car velocity directly, so we tuned the Lfw value by trail and errors.