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Test2220 / PowerUP-Off-Season

Off Season Code for PowerUP Game
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Pure Pursuit #4

Open dhruvbala03 opened 6 years ago

dhruvbala03 commented 6 years ago

Make a working implementation of pure pursuit, in order to ensure that the robot is on course

GaganBhat commented 6 years ago

While PP is a very simplistic, and functional way to ensure that the robot follows a path, it can be inaccurate and will lead in your robot traveling noticeably slower than generated paths. Mostly due to the fact that the RoboRio cannot keep up with the calculations based on your lookahead factor.

Look into implementing pathfinder with position correction. It will serve you far better than pure pursuit. That is unless you decide to perform calculations on a Jetson TK1 or likewise.

You can find pathfinder here and instructions on how to get started here.

The white paper on the position correction can be found here. Refer to Equation 5.12 and the rotation matrix along with it.