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N.I.D.E.C. Nominally Iterative Deterministic Approach to Efficient Computation of Swerve Motion…
… Profiles Limited by Wheel Acceleration and Velocity. This paper outlines algorithms that account for curvature and rotation in swerve motion profiles.
Most swerve profiling algorithms effectively assume that curvature and rotation have a negligible effect. For some paths this assumption can be very problematic, so we have developed an approach for using at wheel acceleration limited (trapezoidal) profiles.
nidec.pdf (1.04 MB)