02 / TRAJECTORY VIEWER
Curvature-Based Path Following / Curvature preview
Plan view · X–Y [m]
Travelled vessel pathOther experiment so farNominal WPs▲ Vessel heading
Metric coordinates
TRAVELLED DISTANCE—
CROSS-TRACK ERROR—
HEADING ERROR—
VESSEL SPEED—
Cross-track erroreᵧ [m]
Curvature · command / actual / referenceκ [1/m]
Heading erroreχ [deg]
Rudder commandδ [deg]