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move to pose test and animation are added

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Atsushi Sakai
2018-08-14 16:34:11 +09:00
parent 1cf962ac2a
commit 9ab931989a
3 changed files with 20 additions and 11 deletions
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PathTracking/move_to_pose/animation.gif Normal file
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24
PathTracking/move_to_pose/move_to_pose.py
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@@ -110,17 +110,19 @@ def transformation_matrix(x, y, theta):
def main():
x_start = 20 * random()
y_start = 20 * random()
theta_start = 2 * np.pi * random() - np.pi
x_goal = 20 * random()
y_goal = 20 * random()
theta_goal = 2 * np.pi * random() - np.pi
print("Initial x: %.2f m\nInitial y: %.2f m\nInitial theta: %.2f rad\n" %
(x_start, y_start, theta_start))
print("Goal x: %.2f m\nGoal y: %.2f m\nGoal theta: %.2f rad\n" %
(x_goal, y_goal, theta_goal))
move_to_pose(x_start, y_start, theta_start, x_goal, y_goal, theta_goal)
for i in range(5):
x_start = 20 * random()
y_start = 20 * random()
theta_start = 2 * np.pi * random() - np.pi
x_goal = 20 * random()
y_goal = 20 * random()
theta_goal = 2 * np.pi * random() - np.pi
print("Initial x: %.2f m\nInitial y: %.2f m\nInitial theta: %.2f rad\n" %
(x_start, y_start, theta_start))
print("Goal x: %.2f m\nGoal y: %.2f m\nGoal theta: %.2f rad\n" %
(x_goal, y_goal, theta_goal))
move_to_pose(x_start, y_start, theta_start, x_goal, y_goal, theta_goal)
if __name__ == '__main__':

7
README.md
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@@ -645,6 +645,13 @@ Ref:
# Path tracking
## move to a pose control
This is a simulation of moving to a pose control
![2](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathTracking/move_to_pose/animation.gif)
## Pure pursuit tracking
Path tracking simulation with pure pursuit steering control and PID speed control.