𝗕𝗮𝘀𝗲 𝗖𝗼𝗻𝘁𝗿𝗼𝗹 𝗠𝗼𝗱𝗲𝗹 𝗗𝗲𝘃𝗲𝗹𝗼𝗽𝗺𝗲𝗻𝘁 I am working on a project to build an autonomous racing agent. You can use a modular control system to improve performance. Here are some key points to consider:
- Use a Proportional-Derivative controller for steering
- Implement adaptive braking logic to prevent spinning
- Use dynamic throttle control for better acceleration
- Implement smart shifting for high-RPM recovery
I have developed a drive function that incorporates these features. You can adjust the parameters to fine-tune the performance. The goal is to eliminate zig-zagging in straights and fix premature crashing in corners.
I have updated the drive function to address these issues. The changes include:
- Tuned PD steering control with damping
- Predictive braking logic to anticipate sharp turns
- Adaptive throttle control to balance speed and stability
You can use the last five elements in the track sensor array to anticipate upcoming track geometry changes. This allows for proactive speed management and avoids crashes by initiating controlled deceleration before reaching sharp turns.
Source: https://dev.to/dglezz/log-1-building-the-base-control-model-18om Optional learning community: https://t.me/GyaanSetuAi