Steering

Contact.

Forward left, one quarter. Stern right full.

So what we are doing is an accelerated evolution of sailing technology.

Can you steer a course?

It'll make a great tail.

I'm just driving the boat.

Out of sight.

Hard to port!

Okay, hard to port!

We went from a back rudder to a front rudder to two rudders to multiple rudders to the whole boat changing shape, and the more we are moving forward, and the more the design looks simple and cute.

My turning angle, I called turn.

Full reverse. Come about starboard, 90 . Drop us down underneath them, Sulu.

The wing has no steering controls, no flaps, no rudder.

Steering has several nonlinear effects... saturation, deadzone, ratelimiting...

The helm's not responding.

Man collisional arm are 500 feet.

The rudder cables became useless and I lost my ability to steer.

Okay. Thank you. Would you Like to take her a while?

Let's assume the car has a fixed forward velocity, but you have the ability to set the steering angle of the car.

Here is the problem.

I should warn you that sometimes I do get collisions here, and it's because our obstacle surfaces are relatively large.

He's disabled the rudder chain.

Hell, not pull the rudder or head twothirds.

Please move away from the controls, captain.

Money it's a gas grab that cash with both hands and make a stash new car, caviar, fourstar daydream... you should've seen rob behind the wheel of that boat.

The vehicle is actually modeled as a system with 2 non steerable wheels and 2 steerable wheels.

R times the sine of theta, and cy is equal to the initial y position plus this extra distance, R times the cosine of theta.

It then reduces y over time to go into negative territory.

Looking at him, I could see white sails and blue water.

The Helmsman and the Armoury Officer are back on the Bridge.

I'm leaving you in command. Get the ship operational.

If I set the mean of the Gaussian to be the steering command and the distance command then this adds noise.

You can see the steering tends to be on the negative side.

The crosstrack_error by and large is very small.

During the day, the Nutmeg collects energy from solar panels on the roof of the wheelhouse, and from a 450 watt turbine up the mast.

We manipulate this equation a little bit, and we find that the radius of curvature is equal to the length of the vehicle over the tangent of the steering angle.

Here I'll apply the noise, which you don't need it for the first implementation, but later on as we go on, you need it to actually add noise.

Suppose you do what I just said. You steer in proportion to the crosstrack error.

So you start steering more and more the more time goes by to the right to compensate this bias.

That's measured by the integral or the sum of the crosstrack errors over time.

But let's try this out with out our proportional controller.

Put differently, the robot oscillates a bit like this with a fairly constant new offset error due to this bias.

That is, it's not just points in x y space, but it's successive state vectors for cars.

I make a new robot copy as in my sample code in class.