by lylelinDgs Ramsete Iii V9 05 📁
Dgs Ramsete Iii V9 05
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first, lets make the dual-level trajectory in terms of control inputs. the top level is the desired lateral velocity dv in meters/s, the speed limit u~ in m/s, and the desired path xp in meters. the second level of the trajectory controls a velocity vz in meters/s, a speed limit u~ in m/s and the path xp in meters.
cant really tell you how to do it, because i dont know how your system works, but the way it looks, and the way it should look. your guess of how it should look is also the best guess there is. if it looks good, thats just because you optimized it. if it looked bad, it wouldnt look bad, it would be the impossible way to go, a wrong way, a whatever way. if it looks good, then thats the way to go, but maybe its not the way to go. people say to optimize, but they dont realize, that people who say to optimize dont really know how to optimize. you should write your algorithm and think about it. thats how it should look. once you think about it, youll realize which way to go. if youre gonna optimize, your best guess, is always the best you can be. and thats not optimized, its you having a bad day, because youre not thinking correctly. if you optimize correctly, it always seems a little bit better. there are really no other answers than that.
you really need to think about the problem, and not have a black box, you know, where you try to optimize everything and hope that it works. you need to understand how it should look. then youll realize which way to go, and then youll change the program so it follows the way you want it to. its pretty basic.
and your not going to be able to follow an exact function, thats a limitation of your controllers. but you can still achieve that much automation, and its much better to do something that works. almost all the other things you see in the world arent very good. optimal trajectory tracking is the best algorithm to use with robots in my opinion.
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