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nobleo / tracking_pid

PID controller following a moving carrot
Apache License 2.0
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Avoid stopping in each waypoint #8

Open IvanVN opened 3 years ago

IvanVN commented 3 years ago

Hi,

I'm trying to use tracking_pid in a sinuous path with waypoints each 0.5m, using a slow robot. I've noticed that the interpolator starts and stops in each waypoint, as if each path segment were independent. This results in a very "bumpy" tracking (video). Even if I set a extremely high acceleration, it keeps stopping in the waypoints if the angle between segments is higher than a few degrees, as it can be seen in the few first segments of this other video.

Is there a way to make the interpolator to not decelerate in each waypoint?

cesar-lopez-mar commented 3 years ago

Good morning, You need to set high values for target_x_acc and target_yaw_acc. In that case, the interpolated point will move at a constant velocity.

IvanVN commented 3 years ago

Thank you for your answer. I had actually increased target_x_acc, but it seems that I completely missed the target_yaw_acc...