Hello to everyone, I'm trying to calculate a waypoints path of a curvilinean motion from 3-axis inertial data acquisition for pedestrian dead-reckoning experiment.
I have the tangential acceleration and angulara velocity.
I thought of proceding in this way:
-compute the tangential velocity with tangetial motion velocity with costant jerk formula
-compute the tangetial displacement
-compute the angular displacement whit : |AngularVelocity|* deltaT (a sort of integration).
-compute the rotation matrix from the angular displacement
-compute the corrent position adding to the previous position the current displacemnt abtained pre-multiply the rotation matrix and tangetial displacement.
What do you think about it?
In both Conference Paper A feasible trajectory planning algorithm for a network contr...
andConference Paper Feasible Trajectory Planning Algorithm for a Skid-Steered Tr...
(and a publication which is currently under review) we used a simple techinique: robot position is transformed into the reference system of the current trajectory segment which must be followed, where a timing law is defined, then a state feedback is used in order to control tracking error to zero.- Badges
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