Validate Low Level Control for Steering (Red Car)

[menson168]

Need to validate our understanding of the vehicle kinematic (simulation, etc..) against real-life performance.
Plan:

• Perform controlled input test runs for control and validate against simulated test runs in Matlab
• Develop an understanding of the low-level control steering system between the linear actuator output and steering angles
• Perform calibration on the feedback (potentiometer) of the low-level control system (If needed)

[menson168]

Few experiments were run on the red car to generate specific steering angle from various commands and previous steering angle state. The conclusion from the experimental data is that the steering mechanism in the red car has a non-repeatable error (compliance) that may have bottlenecked the controller performance.