Straight line into turn: starting turn too early

nobleo / path_tracking_pid

Path Tracking PID offers a tuneable PID control loop, decouling steering and forward velocity

Apache License 2.0

129 stars 37 forks source link

Open whoutman opened 2 years ago

whoutman commented 2 years ago

After a discussion with @cesar-lopez-mar:

In the figure below,

a straight path is followed by a corner
the robot starts executing the straight path, as indicated by the red arrows
the debugging markers of the path_tracking_pid are indicated as well
halfway, the robot starts rotating. Based on the debug markers, it seems that starts executing the corners.

Screenshot from 2022-04-15 11-10-34