github/PythonRobotics
1
1
Fork 0
mirror of https://github.com/AtsushiSakai/PythonRobotics.git synced 2026-04-22 03:00:22 -04:00
Code Issues Packages Projects Releases Wiki Activity

update docs

Browse Source
This commit is contained in:
Atsushi Sakai
2018-11-17 09:06:55 +09:00
parent 3d0d06ede6
commit 2adbb3be5d
4 changed files with 115 additions and 124 deletions
Download Patch File Download Diff File Expand all files Collapse all files

20
PathTracking/model_predictive_speed_and_steer_control/Model_predictive_speed_and_steering_control.ipynb
View File

@@ -128,7 +128,7 @@
"source": [
"where\n",
"\n",
"$$\\begin{equation*}\n",
"\\begin{equation*}\n",
"A' =\n",
"\\begin{bmatrix}\n",
"\\frac{\\partial }{\\partial x}vcos(\\phi) & \n",
@@ -156,7 +156,7 @@
"0 & 0 & 0 & 0 \\\\\n",
"0 & 0 &\\frac{tan(\\bar{\\delta})}{L} & 0 \\\\\n",
"\\end{bmatrix}\n",
"\\end{equation*}$$\n",
"\\end{equation*}\n",
"\n"
]
},
@@ -164,7 +164,7 @@
"cell_type": "markdown",
"metadata": {},
"source": [
"$$\\begin{equation*}\n",
"\\begin{equation*}\n",
"B' =\n",
"\\begin{bmatrix}\n",
"\\frac{\\partial }{\\partial a}vcos(\\phi) &\n",
@@ -184,7 +184,7 @@
"1 & 0 \\\\\n",
"0 & \\frac{\\bar{v}}{Lcos^2(\\bar{\\delta})} \\\\\n",
"\\end{bmatrix}\n",
"\\end{equation*}$$\n",
"\\end{equation*}\n",
"\n"
]
},
@@ -212,7 +212,7 @@
"\n",
"where,\n",
"\n",
"$$\\begin{equation*}\n",
"\\begin{equation*}\n",
"A = (I + dtA')\\\\\n",
"=\n",
"\\begin{bmatrix} \n",
@@ -221,14 +221,14 @@
"0 & 0 & 1 & 0 \\\\\n",
"0 & 0 &\\frac{tan(\\bar{\\delta})}{L}dt & 1 \\\\\n",
"\\end{bmatrix}\n",
"\\end{equation*}$$"
"\\end{equation*}"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"$$\\begin{equation*}\n",
"\\begin{equation*}\n",
"B = dtB'\\\\\n",
"=\n",
"\\begin{bmatrix} \n",
@@ -237,14 +237,14 @@
"dt & 0 \\\\\n",
"0 & \\frac{\\bar{v}}{Lcos^2(\\bar{\\delta})}dt \\\\\n",
"\\end{bmatrix}\n",
"\\end{equation*}$$"
"\\end{equation*}"
]
},
{
"cell_type": "markdown",
"metadata": {},
"source": [
"$$\\begin{equation*}\n",
"\\begin{equation*}\n",
"C = (f(\\bar{z},\\bar{u})-A'\\bar{z}-B'\\bar{u})dt\\\\\n",
"= dt(\n",
"\\begin{bmatrix} \n",
@@ -275,7 +275,7 @@
"0\\\\\n",
"-\\frac{\\bar{v}\\bar{\\delta}}{Lcos^2(\\bar{\\delta})}dt\\\\\n",
"\\end{bmatrix}\n",
"\\end{equation*}$$"
"\\end{equation*}"
]
},
{