Quote:
Originally Posted by Jared
I've been playing around with the trajectory planning software, and I'm working on an application to quickly input waypoints, visualize output, then FTP to cRIO.
Right now, I'm got it set up so that I can input a bunch of waypoints and have it spit out graphs of robot position, and the trajectories are really amazing. The path is smooth and makes sense, and robot motion is super smooth.
There is one possible bug that I've seen. Sometimes it makes a path that travels the correct x and y distance, but doesn't start at (0,0). Usually it does. Maybe I'm just not understanding it right?
The only thing I haven't been able to make it do is a full 180 degree turn.
See some pictures here:
http://imgur.com/a/Q4RPw
The program-a work in progress- (which is fun to play with):
https://drive.google.com/folderview?...&usp=sha ring
How exactly does the calculation for finding the splines work? Would there be a way to modify it so that you can enter a waypoint that is just a position, and has no heading? |
I'd like to try your program, but the file linked isn't working for me.
I'm not 100% exactly sure how 254's code works, but I'd be willing to bet it uses something similar to what is described in
this article. They can just chain the splines together and end up with a continuous and differentiable (smooth) curve because they can set the slope at the beginning and end of each segment equal.