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机器人位置正确,朝向不正确会如何规划路径

 1 year ago
source link: https://charon-cheung.github.io/2023/05/15/%E8%B7%AF%E5%BE%84%E8%A7%84%E5%88%92/%E6%9C%BA%E5%99%A8%E4%BA%BA%E4%BD%8D%E7%BD%AE%E6%AD%A3%E7%A1%AE%EF%BC%8C%E6%9C%9D%E5%90%91%E4%B8%8D%E6%AD%A3%E7%A1%AE%E4%BC%9A%E5%A6%82%E4%BD%95%E8%A7%84%E5%88%92%E8%B7%AF%E5%BE%84/
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机器人位置正确,朝向不正确会如何规划路径 | 沉默杀手

机器人位置正确,朝向不正确会如何规划路径
2023-05-15|路径规划其他|
Word count: 103|Reading time: 1 min

qhB3YTEIfgoAvRJ.png

如图所示,起点的朝向为0°,终点朝向相同,这个路径显然就是直着走。

假如机器人实际朝向为90°,但定位程序给出的是0°,那么传给路径规划后,规划出的是直线,路径点的朝向都不变,输出的角速度为0,只有线速度。那么车会朝90°直着走,这就偏离路径了。

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