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fix::Control PathFinderController bug (#1000)

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noob3-3
2024-04-27 20:51:19 +08:00
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parent c12faa6a2e
commit 8f84f0f551
1 changed files with 1 additions and 1 deletions
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Control/move_to_pose/move_to_pose.py
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@@ -74,7 +74,7 @@ class PathFinderController:
alpha = angle_mod(np.arctan2(y_diff, x_diff) - theta)
beta = angle_mod(theta_goal - theta - alpha)
v = self.Kp_rho * rho
w = self.Kp_alpha * alpha - controller.Kp_beta * beta
w = self.Kp_alpha * alpha - self.Kp_beta * beta
if alpha > np.pi / 2 or alpha < -np.pi / 2:
v = -v