I've made Unit 5 demo again in JS. Which you can play with in your browser. Play with it here!
You can change everything on the fly!
I have an issue with robot fall into making circles if it looses the track. When it far away from track it keep turning forever.
I guess it's because of how I calculate CTE. Currently my CTE is minimal distance to ANY point on the path. It wasn't covered in the class (how to do it well in the wild) so I did the first what came to my mind.
I guess I need to use perpendicular line or even something like described in this paper. Or maybe I missed something from lecture.
I guess if I put robot far away from y-line in class's code, than it also start going around, isn't? I'll try.
Any suggestions how to fix that?
answered 27 Mar '12, 04:48