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I have built a MIT-RACEcar and am using it for a fixed track race. I have my own particle filter which can localize the car. Once I know where I am, I can use pure pursuit to find the next target on the track. However, I do not know how to send out the ackermann control parameters. For example, I am currently at location (x1, y1), my near term target is (x2, y2). How can I compute the speed and steering angle from these two locations?
Since MIT-RACEcar has been used to race in the tunnel, it must have some code like this. Could anyone point me the location of the algorithm?
The text was updated successfully, but these errors were encountered:
I have built a MIT-RACEcar and am using it for a fixed track race. I have my own particle filter which can localize the car. Once I know where I am, I can use pure pursuit to find the next target on the track. However, I do not know how to send out the ackermann control parameters. For example, I am currently at location (x1, y1), my near term target is (x2, y2). How can I compute the speed and steering angle from these two locations?
Since MIT-RACEcar has been used to race in the tunnel, it must have some code like this. Could anyone point me the location of the algorithm?
The text was updated successfully, but these errors were encountered: