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That one math function break turning radius of the vehicle. Here is a simple fix. The math is following: turnRadius = wheelBase / Sin(steeringAngle) turnAngle = arcLength / turnRadius So, turnAngle = arcLength / wheelBase * Sin(steeringAngle)
Cyber-Mrt
approved these changes
Aug 6, 2024
Cyber-Mrt
approved these changes
Aug 6, 2024
Cyber-Mrt
approved these changes
Aug 6, 2024
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That one Tan() function violates the turning radius of the vehicle.
Here is a simple fix. The math is following:
$turnRadius = wheelBase / Sin(steeringAngle)$
$turnAngle = arcLength / turnRadius$
So,
$turnAngle = arcLength / wheelBase * Sin(steeringAngle)$