- #1
johngeo
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Hi,
I am new to control system and coding.my problem is suppose we have a steering value and know we need to turn the vehile. I facing difficulty in understanding some equations.
I am new to control system and coding.my problem is suppose we have a steering value and know we need to turn the vehile. I facing difficulty in understanding some equations.
Code:
phi=T*st. %here st. is steering value and 'T' is some constant ,
but I am facing difficulty to understand what it is? whether it is time constant or something else.
% radius of curvature (ICC)
R=L/tan(phi);
str.=30*(V/R);% cann't understand what the use of this equation. here 'v' is some constant.
theta new=theta+str.; %theta is vehicle angle.
%centre of curvature(ICC)
A=X-R*sin(theta);
B=Y+R*cos(theta);
%new position of rear axle mid point
X=A+R*sin(theta new);
Y=B-R*cos(theta new);
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