Single vehicle path-following Sample Clauses

Single vehicle path-following. The design of a virtual target based guidance system is reported in Bibuli et al. (2009), a brief description of the guidance approach is given in the following. Given a reference path on the horizontal Cartesian plane, the along-track and cross track errors defined between the path and the actual position of the vehicle, namely s1 and y1, and the orientation error  are computed as follows: s1  (x f  x) cos( f )  ( y f  y) sin( f ) y1  (x f  x) sin( f )  ( y f  y) cos( f )    e  f The point (x,y) and ψe are the actual position of the vehicle and the direction of its motion. (xf,yf) and ψf respectively denote the position and orientation of a virtual target that moves on the reference path. The nomenclature framework is reported in Fig. 5.5.1.1.
Sample 1
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