I would like to simulate a truck following a path, which is defined by multiple point in a fixed xy plane (simplified from GPS coordinates).
Lets assume that i already have a mathematical model, which can calculate steering angle based on the following inputs:
- lateral error between a vehicle-based point and the path point (which varies with time)
- vehicle orientation error, which is the difference between the truck's heading angle and the path tangential in the specified point
My question is, how could I manipulate the input of the model using the given path informations (points)?
The path can be calculated using pre-defined informations, no need for real time calculation. The truck will follow plantation lines.
So the truck needs to follow a set of points, but the reference point is varying with time, and I don't know how to teach the model to follow a specific point, and how to define which point to follow at a specific time.
I would like to solve this in Simulink.
Sorry for foggy explanation, if something is not clear, please ask.
Thanks for your help in addition.