动手学运动规划:1.1.c 车辆运动学:自行车模型代码解析

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本节提供了自行车模型的代码测试.

python3 tests/basic/kinematic_test.py

1.1.c.1 自行车模型实现

以后轴中心为参考点的自行车模型状态转移函数如下,更新了distance距离之后的状态

def bicycle_model(point, distance):
    next_point = copy.deepcopy(point)
    next_point.x += distance * cos(point.theta)
    next_point.y += distance * sin(point.theta)
    next_point.theta += normallization(distance * tan(point.steer) / WHEEL_BASE)

    return next_point

tests\basic\kinematic_test.py调用了这个函数,展示了模型效果

1.1.c.2 代码测试

(1)前轮偏角固定,车辆走出一道圆弧:

 for t in np.arange(0, total_t, delta_t):
        new_p = bicycle_model(points[-1], points[-1].v * delta_t)
        points.append(new_p)

(2)前轮偏角逐渐变化:

    for t in np.arange(0, total_t, delta_t):
        new_p = points[-1]
        if t < 3:
            new_p.steer = max(new_p.steer - 0.01, -MAX_STEER)
        else:
            new_p.steer = min(new_p.steer + 0.02, MAX_STEER)
        new_p = bicycle_model(new_p, new_p.v * delta_t)
        points.append(new_p)

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