(1)当前点距离目标点的距离是否小于由参数配置文件设定的阈值xy_goal_tolerance (2)当前点的姿态角与目标姿态角是否小于由外参数配置文件设定的阈值yaw_goal_tolerance if(std::abs(std::sqrt(dx * dx + dy * dy)) < _params.xy_goal_tolerance &&...
horizonLength,0.4,120);//QP二次规划update_x_drag(x_comp_integral);if(vxy[0]>0.3||vxy[...
(1)当前点距离目标点的距离是否小于由参数配置文件设定的阈值xy_goal_tolerance (2)当前点的姿态角与目标姿态角是否小于由外参数配置文件设定的阈值yaw_goal_tolerance if (std::abs(std::sqrt(dx * dx + dy * dy)) < _params.xy_goal_tolerance && std::abs(delta_orient) < _params.yaw_goal_toleranc...
在xyYu:一个模型预测控制(MPC)的简单实现的基础上,加了正弦信号跟踪的情形 注意点:参考轨迹通过时钟进行预测得到. 先上跟踪效果: 可以看出跟踪效果还是不错的。 这里所有零阶保持器的时间为MPC的控制周期T=0.01s。 function u = MPC_Control(t,pos_ref,vel_ref, pos, vel) T = 0.01; %t参考时间,因为用...
其中:m为整车质量,kg;v为车辆纵向速度,m/s;v为车xy 图1三自由度车辆动力学模型 辆横向速度,m/s;φ为车辆横摆角速度,rad/s;F、F为车 xfxr 辆坐标系下x轴方向前、后轮胎受到的力,N;F、F为前、后轮胎受到的纵向力,N;δ为前轮转角,rad; lflr F、F为车辆坐标系下y轴方向前、后轮胎受到的力,N;F...
abs(u[0, :]) <= MAX_VEL] constraints += [cvxpy.abs(u[1, :]) <= MAX_STEER] prob = cvxpy.Problem(cvxpy.Minimize(cost), constraints) prob.solve(solver=cvxpy.ECOS, verbose=False) if prob.status == cvxpy.OPTIMAL or prob.status == cvxpy.OPTIMAL_INACCURATE: opt_x = get_nparray_...
The bump and underfill layer is modeled as 9.10 × 12.25 × 0.069 mm (or as a collapsed volume) with orthotropic material properties: 0.6 W/(m • K) in the xy-plane and 2 W/(m • K) in the direction of the z-axis. The substrate volume is 25 × 25 × 1.2 mm (MPC7445) ...
deque(maxlen=vel_moving_average_length) self.stance_time = stance_time self.hip_height = hip_height self.lift_off_positions = lift_off_positions def compute_footholds_reference(self, com_position: np.ndarray, base_ori_euler_xyz: np.ndarray, base_xy_lin_vel: np.ndarray, ref_base_xy_...
LI3r7adBSRWq31uZeyuddY5jkSuW7iLl29EJE6TyVVTiz6XACa5Cdr8pRIFUvoORif68aTU2JlyIcLSdm6xXQkERFjVFLlxBp3xYmFLtZ1rNyZbTqNSK3Xq3ko7w1px7DSCdT/vCfb1y02HUlExAiVVDkxr3rkN+xCIZ4kq6SKVIs+LcPo2qMvvs58/CdewQ4VVRGpg1RS5aQ8hv3GE86RrEzLNh1FpM5od8F1rDpnDN7OAvwnDiJ1zULTkUREqpVKqpyUm91GQngAy...
最外层的都链接到mpc_local_planner。 然后,给mpc_local_planner_utils添加了依赖corbo_core,corbo_systems; 给mpc_local_planner_optimal_control添加了依赖corbo_optimal_control; 给mpc_local_planner添加了依赖mpc_local_planner_utils、mpc_local_planner_optimal_control、corbo_controllers、以及catkin_packages目录下...