gvf_ik
Guidance algorithm based on inverse kinematics for path following using guiding vector fields. The path is defined implicitly by level sets, enabling precise transient control and feed-forward motion shaping. For more details, see https://arxiv.org/pdf/2502.17313 .
GVF_IK_ |
||
|---|---|---|
Name |
Value |
Description |
GAMMA_AMPLITUDE |
0 |
Error feedforward amplitude |
GAMMA_OMEGA |
0 |
Error feedforward angular velocity |
GVF_IK_ELLIPSE_ |
||
|---|---|---|
Name |
Value |
Description |
KE |
1 |
Gain for the aggresivity of the gvf |
KN |
1 |
Gain for the alignment of the vehicle with the gvf |
A |
80 |
Horizontal axis length of the ellipse |
B |
80 |
Vertical axis length of the ellipse |
ALPHA |
0 |
Rotation of the horizontal axis |
GVF_IK_LINE_ |
||
|---|---|---|
Name |
Value |
Description |
KE |
1 |
Gain for the aggresivity of the gvf |
KN |
1 |
Gain for the alignment of the vehicle with the gvf |
HEADING |
0 |
Desired heading for the line (0 is North, 90 is East) |
D1 |
0 |
Extra distance (w.r.t. the 1st point) to be travelled before turning around for the segment_loop |
D2 |
0 |
Extra distance (w.r.t. the 2nd point) to be travelled before turning around for the segment_loop |
GVF_IK_SIN_ |
||
|---|---|---|
Name |
Value |
Description |
KE |
1 |
Gain for the aggresivity of the gvf |
KN |
1 |
Gain for the alignment of the vehicle with the gvf |
ALPHA |
0 |
Desired heading for the line (0 is East, 90 is North) |
W |
0 |
Frequency for the sinusoidal y=Asin(Wx + OFF) |
OFF |
0 |
Offset for the sinusoidal y=Asin(Wx + OFF) |
A |
0 |
Amplitude for the sinusoidal y=Asin(Wx + OFF) |
Depends
- gvf_common