[ODE] nonholonomic vehicle path following

[Ke]

Thank you for your reply.
So our 4-wheeled vehicle simulated by ODE is not able
to perform such path following tasks accurate enough.
For example, say, we asks the vehicle built by ODE, to
follow a given circle path. The trajectory of the
vehicle would not be exactly same as the given one,
due to the accuracy of ODE's integrator and solver.
Please point me out if I am wrong.
Thanks again and we appreciate your input.

Sincerely,
Ke

--- Nguyen Binh <ngbinh at gmail.com> wrote:

> I believe that ODE doesn't focus on such kind of
> application. ODE's
> integrator and solver is not accurate enough for
> these tasks. My only
> suggestion is switching to old "big-matrix" solver
> might help you.
> 
> On 6/7/07, Ke <kxubb at yahoo.com> wrote:
> >
> > Hello All,
> > I am doing a project in ODE,simulating a 4-wheeled
> > nonholonomic vehicle to follow a given reference
> path.
> > Our control algorithm (velocity control) can give
> out
> > vehicle linear velocity and angular velocity of
> > vehicle.
> > But when we apply such velocity into ODE,after
> > converting them into the ODE Hinge joint
> > parameters(dParamVel) of rear-driving wheels and
> > front-steering wheels, the vehicle just won't not
> > follow the given path exacly no matter how we
> tune-up
> > all these parameters.
> > Here is my questions,
> > What parameters are more imporatant in this path
> > following problem?
> > Any related project available for my references?
> > One more general question- Can ODE do well in the
> path
> > following/tracking problems?
> >
> > Any suggestions is appreciated.
> > Thank you for your time.
> >
> > Sincerely,
> > Ke
> >
> >
> >
> >
> >
>
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> 
> 
> 
> -- 
> --------------------------------------------------
> Binh Nguyen
> Computer Science Department
> Rensselaer Polytechnic Institute
> Troy, NY, 12180
> --------------------------------------------------
> 



 
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