MEASURE(wheel=0°, pixel sampling) →
STEER(wheel=N°, turn) →
STRAIGHT(wheel=0°, go straight)
3
0.5
50
30
50
±25°
20
35
PIXEL
—
λ_dot_f
—
WHEEL
0°
ZIGZAG
0
WORLD
blue=measure / red=steer / green=straight
CAMERA
pixel measured only during MEASURE phase
WHEEL ANGLE — phase colored
λ_dot — dots = steer calc points
PN: steer ∝ λ_dot (시선각 변화율) |
Pursuit: steer ∝ pixel_error (픽셀 위치 오차)
3
0.5
50ms
30ms
50ms
±25°
20
35
▸ PN (3단계 조향)
결과—
요격 시간—
조향 횟수—
갈지자—
▸ Pursuit
결과—
요격 시간—
조향 횟수—
경로 길이—
PN (3단계)
blue=measure / red=steer / green=straight
Pursuit
always pointing toward target
TRAJECTORY COMPARISON — blue=PN / green=Pursuit