Control System Design

Coordinate System

Here's an old illustration:

• Coordinate System

This is not entirely accurate any more. Currently-

• x is forward
• y is left
• z is up
• psi is heading - 0 is due east, and it increases according to right hand rule around z axis
• phi is roll angle - right hand rule around x axis
• theta is pitch angle - right hand rule around y axis

Estimation

• Coordinate System
• SWARM Extended Kalman Filter v1
• media:Swarm_kinematics_061220.jpg
• A Generic Extended Kalman Filter Formulation
• NMM EKF Code

Path Following Research

• A Path Following Robot
• Packbots

Calculate Heading

Mathforum