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The head angle tracks the reference head angle (above).
The testing system consists of a selected reference head and sample heads for evaluation.
where Φ N ∈ ℝ denotes the reference head angle for the robot.
A GL variation function is introduced for the evaluation of GL deviation between the reference head and sample head.
First row shows the distance values between the current and the reference head for different postures, and the second row shows the distance between the reference head centroid and the current body centroid.
The third row shows the absolute value of the angle between the current and the reference head centroids.
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We used a maximum likelihood decoder (Sanger, 1996; Dayan and Abbott, 2001; Jazayeri and Movshon, 2006; Gu et al., 2010; Fetsch et al., 2011) to estimate heading from simulated population activity, and we required the population activity to discriminate between headings that were slightly leftward or rightward relative to a straight-forward reference heading.
It outputs reference heading and trimming angle according to position deviations in horizontal and vertical plane respectively.
To determine the reference heading command under various uncertainties, the vector field method is employed, and then the RISE feedback controller is designed to follow the heading command.
The track-keeping mission is achieved through a sequence of course-changing maneuvers and the reference heading is computed with the line-of-sight (LOS) guidance law.
In general, guidance-based control strategies are based on defining a reference heading angle for the vehicle through a guidance law and designing a controller to track this angle [27].
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