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Implement Cross Track Error Minimisation Controller #9

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colinsauze opened this issue Sep 5, 2015 · 0 comments
Open

Implement Cross Track Error Minimisation Controller #9

colinsauze opened this issue Sep 5, 2015 · 0 comments

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@colinsauze
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Write a controller that doesn't just keep the boat's heading correct but also keeps its cross track error (distance from the line from last wp to next wp) at a minimum. Without this we will get arcs in the track.
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@colinsauze