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Path planning to follow another car parallely

asked 2016-06-16 06:09:04 -0500

surizer
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Hej guys,

I am currently working on a project where i have to create trajectories(set of waypoints) for a rc car in such a way it follows another car parallely. I have the GPS signals for both cars. The trajectory generated should have a structure(x,y,v). The rc car is in a good state to follow the (x,y,v). The controllers to follow the waypoints is working good. Now i have to have a mathematical idea to relate the (x,y,v) of the rc car and another car(x,y,v) in such a way it runs in parallel .

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answered 2016-06-16 22:09:46 -0500

asimay_y

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In my opinion, A is head, B is afterward, set B to follow A's trajectory but with a safety offset from A. is it OK? or you can refer to turtlebot's (two) follower case.

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Hey the problem is offset , A constant offset wont make it run parallel. i would like to know a mathematical formula with heading that can probably change the offset.

surizer ( 2016-06-20 01:59:00 -0500 )edit

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Asked: 2016-06-16 06:09:04 -0500

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Last updated: Jun 20 '16

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Path planning to follow another car parallely