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Martin Thoma 2014-01-02 16:16:13 +01:00
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documents/math-minimal-distance-to-cubic-function/introduction.tex
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@ -7,9 +7,8 @@ is by applying the \href{https://en.wikipedia.org/wiki/PID_algorithm}{PID algori
This algorithm needs to know the signed current error. So you need to
be able to get the minimal distance of a point (the position of the car)
to a cubic spline (the prefered path)
combined with the direction (left or right).
As you need to get the signed error (and one steering direction might
be prefered), it is not only necessary to
combined with sign (which represents the steering direction).
As one steering direction might be prefered, it is not only necessary to
get the minimal absolute distance, but might also help to get all points
on the spline with minimal distance.