The Target positions in Carter_v2_drive_to goal Model

Hi everyone,

I’m trying to understand the structure of the Carter_v2_drive_to_goal model ,omniverse://, to apply it to my own model and control the movement of a vehicle. However, I’m having some trouble with the definition of the target positions. It’s not clear to me how they were defined in the model, and I was hoping someone could help me out.

Specifically, I’m looking for more information on how the target positions were determined and how they relate to the overall movement of the vehicle. If anyone has any insights or resources to share, I’d really appreciate it.

Thanks in advance!

Its a very naive algorithm
the planning part is an implementation of

and the controller is

The target xform pose is used to compute the goal, the spline is recomputed and the stanley controller is used each frame to drive the differential robot

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