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HOMEWORK NO 3 In the lecture on 28/05/2021 we used the dynamic model to test the pure pursuit method for path           following

Electrical Engineering

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HOMEWORK NO 3 In the lecture on 28/05/2021 we used the dynamic model to test the pure pursuit method for path           following. We made the vehicle follow the X-axis. We used the Simulink model with the following name that can be found on system with parameters:

dynamic_pure_pursuit2020b.slx

  In this homework your goal is to make the vehicle follow the Y-axis. You should redraw the

followingdrawing that are in your notes for the Y-axis

 

 

 

        Start your vehicle from initial coordinates (1,0) and an initial angle of 30 degree with Y axis.

                       Q1/ You should test your controller for differ ent:

1. 3 Different look ahead distances.
2. 3 Different vehicle speeds.

                        You should plot the vehicle paths for each these tests. 

Discuss your results and state your conclusions for the different plots.

                         Q2/

 

1. Change the position of the CG(center of grafity)  and discuss the results that you observe.      
2. How should the lookahead distance change as the CG changes?