### Author Topic: Trajectory planning.  (Read 1359 times)

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#### jakx12

• Robot Overlord
• Posts: 183
##### Trajectory planning.
« on: March 06, 2010, 06:47:35 AM »
Ok so I am coding this robot simulation software that gets a robot to teach itself how to drive using genetic algorithms and artificial neural networks. However, I dont know how to realistically move the robot. For example, say the neural network outputs 0.8 for the right motor, whats the maths to plan a trajectory for this. Basically the 0.8 is the speed of the right motor so it will spin 8 times a second. Now what I cant figure out is this. The robot is circle shaped so how do I change the angle of the robot realistically if the robot moves forward 1 but goes to the left or right x amount.

So like would the maths be this. x = tan(1/(angle * degrees of the robot)) and then the angle to subtract or add would be tan(1/x)? Or not?

thanks guys,

jakx12
Need help with an algorithm or a maths related problem? Ill be glad to help

#### arixrobotics

• Full Member
• Posts: 119
##### Re: Trajectory planning.
« Reply #1 on: March 09, 2010, 01:25:40 AM »
Hi jakx12,

Its 'funny' how your signature at the bottom says you can help with algorithms and maths, but your post is asking for help on that... hehe joking

I don't quite understand esp this part:
how do I change the angle of the robot realistically if the robot moves forward 1 but goes to the left or right x amount.

By angle of the robot do you mean the robot's heading angle? What do you mean the robot goes forward 1 ('1' what?) but also goes left or right? Is it curving when its supposed to go straight? And you want some maths that will correct that?