DGS Ramsete III V9.68 ^NEW^ ⚡

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DGS Ramsete III V9.68

Finally, one of the guys that actually created (or at least helped design) the control strategy Ramsete, Randy Tretiak, did a paper at the AIAA Conference in 2011 on simulation and theory of Control of Pursuit/Oriented Task Performance. Heres the link to the paper: Ramsete v1 – Generalization, Theory, and simulation .

Q: What are the parameters of Ramsete III? How is it tuned? Are there any specific values that one should change in the controller? What was the criteria for choosing the parameters of Ramsete III? I’ve seen some that are between 0.01 and 1, and others that are between 0.0001 and 0.1.

There was a big flap over on the Ramsete subforum the other day regarding exactly this. PID tuning is a HUGE topic and will be the topic of a long post of its own. Also, if you need a PID tuning algorithm, you may just be wasting your time. The techniques used to tune PID controllers are well understood.

Are there other strategies in the realm of pure pursuit, RAMSETE, etc. that could also be applied It seems RAMSETE is all the rage right now. This is for a personal project of mine, so I am not looking for FRC-specific code, but more of a general understanding of the techniques to implement myself. Any help would be appreciated.

To be clear, none of these (PID, Pure Pursuit, RAMSETE, etc.) are majik bullets that instantly make your robot super reliable. They require some tuning, which requires understanding of what the algo is doing based on whatever data it needs.

How is the RAMSETE controller supposed to work Say I had the robot at the state (x,y,theta, linear velocity, angular velocity) of (0,0,0,0,0) and gave it a goal state of (1,5,0,2,0). What does the robot look like if it follows the controller properly and gets to (1,5) Facing the same direction as the initial state and moving at 2 units/s forward

The Ramsete controller returns adjusted velocities so that the when the robot tracks these velocities, it accurately reaches the goal point. The controller should be updated periodically with the new goal. The goal comprises of a desired pose, desired linear velocity, and desired angular velocity. Furthermore, the current position of the robot should also be updated periodically. The controller uses these four arguments to return the adjusted linear and angular velocity. Users should command their robot to these linear and angular velocities to achieve optimal trajectory tracking.
Awesome. I have already looked into RAMSETE using Pure Pursuit, and it seems like a good controller. I am really using a laser range finder plus some heading sensors to determine the robot’s heading.
I have been looking at the RAMSETE controller and it seems very versatile and reliable. However, it’s entirely possible to use very reliable and also elegant techniques on the robot itself to achieve the same objective.
Not going to lie, I haven’t done very much research into the RAMSETE controller. Only been playing around with it for a short time. I am probably going to be using two laser range finders and two heading sensors as a controller for this project.
The controller has two modes: autonomous mode and guidance mode. But you can start the robot in both modes. The robot runs in autonomous mode (just like RAMSETE), and once it reaches the goal state the controller instructs the robot to enter guidance mode. Then if the robot turns, the robot will face the direction of its headings with no actual steering. So in the end you can choose whether you want the robot to be in autonomous mode or manual mode. If you don’t choose to use RAMSETE for any reason, just start the robot in autonomous mode.
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