Definition of the directions of travel

The relevant vehicle types to be controlled move within the area and have a maximum of 3 kinematic degrees of freedom:

  • Transversal (forward/backward) along the X axis
  • Lateral (sideways) along the Y axis
  • Rotation (turning) around a kinematic zero point

The definition of the signs results from the analysis of the underlying coordination system. It is a right-handed Cartesian coordinate system.

The following view shows the relationship of the degrees of freedom to one another using the example of a vehicle with a differential drive. The origin of the coordination system lies at the center point of the imaginary line between the two drive wheels.

[1]

Front of the vehicle

[2]

Drive wheels

[3]

Back of the vehicle