Stanley-CSDN

1. 2. 3. Stanley（cross-track error： e e e( p x p_δ ( t ) = δ e ( t ) + δ θ e ( t ) δ(t)=δ_e(t)+δ_{\theta_e}(t) δ(t)=δe​(t)+δθe​​(t) e e e，，。 θ e θ_e θe​​，， δ θ e ( t ) = θ e ( t ) δ_{\theta_e}(t)=\theta_e(t) δθe​​(t)=θe​(t) θ e θ_e θe​​ δ e ( t ) = a r c t a n e ( t ) d ( t ) = a r c t a n k e ( t ) v ( t ) δ_e(t)=arctan\frac{e(t)}{d(t)}=arctan\frac{ke(t)}{v(t)} δe​(t)=arctand(t)e(t)​=arctanv(t)ke(t)​blog.csdn.net

Stanley：_stanley control-CSDN——Stanley method