Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Improve Steering Controllers Documentation #931

Open
christophfroehlich opened this issue Dec 14, 2023 · 5 comments
Open

Improve Steering Controllers Documentation #931

christophfroehlich opened this issue Dec 14, 2023 · 5 comments

Comments

@christophfroehlich
Copy link
Contributor

In general, I'd appreciate more documentation of the kinematics in the docs for all controllers here. Is there any publicly available reference/book for these mobile robot kinematics we could refer to?
I'd happy to help with writing the docs, and maybe writing proper tests for the implementations. But I'm not "fluent" with these type of kinematics, I'd need a textbook for that.

Originally posted by @christophfroehlich in #878 (comment)

@christophfroehlich
Copy link
Contributor Author

For example, some simple sketches showing the system inputs of the different steering geometries. Pictures with appropriate licenses could be used and adapted, e.g., from wikipedia. This might also be related with #692

@bmagyar
Copy link
Member

bmagyar commented Dec 14, 2023

I'd suggest relying on Wikipedia as much as possible. The core equations are usually well explained but figures may be lacking.

@christophfroehlich
Copy link
Contributor Author

I haven't found anything appropriate to Ackermann steering for example 🤷‍♂️

@ARK3r
Copy link
Contributor

ARK3r commented Dec 14, 2023

This is a resource that I found useful: https://msl.cs.uiuc.edu/planning/node657.html

@christophfroehlich
Copy link
Contributor Author

Some literature review

They all handle the kinematics of car-like robots in state-space form, but none is discussing odometry etc. of the different geometries @ARK3r has pointed to here. I guess we have to write that on our own 🤓

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Projects
None yet
Development

No branches or pull requests

3 participants