The relationship between body, forces acting upon it, and its motion. In an inertial frame of reference is when net force is equal to zero = therefore there is no resistance to the object’s velocity. First law: In an inertial frame of reference, an object either remains at rest orContinue Reading
MPC is used to optimize control inputs by approximating a reference trajectory using dt, N and T variables in a finite(2-3 seconds) time-horizon. This reference trajectory should encompass very small values of dt which will be multiplied by N (should be a number that when multiplied by dt is 2-3Continue Reading
Frenet coordinates are an alternative way to describe a curve in 2D space, this most commonly can be useful while computing displacement of a vehicle’s position on the road or a calculating it’s reference path. The Frenet coordinates is composed of two coordinates. s coordinate – representing distance along theContinue Reading