增加差速电机前馈与控制器曲率预瞄

2026-08-12 11:19:01 +08:00
parent 3043febd91
commit 6c6149c8d5
24 changed files with 366 additions and 19 deletions
@@ -104,7 +104,7 @@ namespace MultiWheelC.Control.Lateral
            var feedforwardAngleRadians =
                travelDirection *
                Math.Atan(
-                    context.ReferenceCurvaturePerMeter *
+                    context.FeedforwardCurvaturePerMeter *
                    ControlPointRadiusMeters);

            // 横向误差生成前后同向的共同转角，使四舵轮车辆平稳靠近轨迹。