Main angle

Rotation degree

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.

Select the angle of the rotation...

Rotate by this angle

Steering

Nonstandard rotation angle

Contact.

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

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.

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

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

Forward left, one quarter. Stern right full.

Projectively rotate by this angle

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

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

I could have equally written steering plus random.gauss, zero, comma, and then the noise parameter. As I go down further, here is my execution of motion.

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

Select the rotation degree.

An object rotated by an angle around a point

Can you steer a course?

It'll make a great tail.

I'm just driving the boat.

What's the intuition?

Out of sight.

Hard to port!

Okay, hard to port!

This value in degrees will be added to main angle value to set fine target angle.

How would you do this? You would keep the steering constant? You would use random steering commands?

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.

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