Help in MinTurningRadius computation

Since the default MinTurningRadius is 4 for 2.8 meters wheelbase vehicle with a maximum steering angle of 35, how this 4 value is computed? Which is the ratio between a general minimum turning radius and the related wheelbase and maximum steering angle?

Answer 1

[Srimouli Rukmabhatla]

Hi,

MinTurningRadius is a property, Default value is 4. You can refer the following documentation linkhttps://www.mathworks.com/help/driving/ref/pathplannerrrt.html

In general the formula for radius of curvature is as

r = s / (sqrt(2 - 2 * cos(2*a/n))

where r is radius of curvature ,s is wheel base, a is steering angle,

n is steering ratio.