Artheru：Initial bilingual draft (auto-published)

2026-05-16T11:26:50Z

Initial bilingual draft (auto-published)

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<languages/>

== 概述 / Overview ==
"巡线行走"是 MDCS Clumsy 最基础的运动原语：给一个起点 (srcX, srcY) 和终点 (dstX, dstY)，AGV 沿直线段从起点驶到终点。它由 `SteeringLineFollowing`（正向）和 `SteeringLineFollowingReverse`（反向）两个 `MovementDefinition` 子类实现，所有其它复杂动作（取放货、绕障、双车联动）都是在它之上组合而成。

"Line following" is the most basic Clumsy motion primitive: given (srcX, srcY) and (dstX, dstY), the AGV runs a straight segment between them. It's implemented by `SteeringLineFollowing` (forward) and `SteeringLineFollowingReverse` (reverse), both `MovementDefinition` subclasses. Every higher action (pick/place, obstacle avoidance, twin-car coordination) composes on top.

文件 / Files: `D:\src\Clumsy\ClumsyCore\Legacy\SteeringLineFollowing.cs`、`SteeringLineFollowingReverse.cs`。

== 使用场景 / When to use ==
* 站点对点的直线行驶（无需绕障 / 无需精对位）。
* 取放货的 ''粗对位''阶段（开 [[Special:MyLanguage/自动识别工位并取放货|工位识别]] 之前的逼近）。
* 反向出库（用 `Reverse` 变体）。
* 简单调度的最小可用配置。

* Point-to-point straight driving on uncongested aisles.
* Coarse-approach stage before [[Special:MyLanguage/自动识别工位并取放货|station-aware pickup]].
* Reverse withdraw (the `Reverse` variant).
* Minimum config for a quick-running scheduler.

== 关键字段 / Key fields ==
{| class="wikitable"
! 字段 / Field !! 类型 !! 含义 / Meaning
|-
| `srcX`, `srcY` || `double` || 起点 / segment start (mm)
|-
| `dstX`, `dstY` || `double` || 终点 / segment end (mm)
|-
| `basespeed` || `int` || 巡航速度 / cruise speed (mm/s)
|-
| `lookAhead` || `float` || 纯跟踪前瞻距离 / pure-pursuit look-ahead (mm)
|-
| `dFactor` || `float` || 横向偏差转化为转向的增益 / lateral-error → steer gain
|-
| `slowdown` || `bool` || 临近终点时降速 / decelerate near goal (true by default)
|-
| `finSpeed` || `int` || 终点最低速度（slowdown 触发后）/ final speed when slowdown active
|-
| `slowdownDist` || `float` || 进入减速段的距离阈值 / decel-zone size (mm)
|}

`SteeringLineFollowingReverse` 字段完全一致；语义为车头朝向 ''不变''、车体后退到目标。
`SteeringLineFollowingReverse` has the same fields; the car drives in reverse while keeping its heading unchanged.

== 工作机制 / How it works ==
1. `MovementDefinition.Get()` 是一个 ''可枚举的 bool 序列''，每个 tick 返回一次 `true`（表示继续），直到完成时返回 `false` / 退出枚举。
2. `DriveTask.WaitDriveTask(IEnumerable<bool>)` 把这个序列每隔 `Configuration.conf.DriveTaskInterval` ms 调一次，并阻塞调用方直到序列结束。
3. 每个 tick 内部：
- 读当前位姿 `(x, y, th)`（来自 Detour，已订阅）。
- 计算前瞻点（沿目标线段往前 `lookAhead`）。
- 用纯跟踪法求转向角；`vCmd` 取 `basespeed`（若进入减速段则衰减到 `finSpeed`）。
- 写到 Medulla 上位 IO。
4. 当车体距 `(dstX, dstY)` 小于阈值（默认 50 mm），返回 `false` 结束。

1. `MovementDefinition.Get()` returns an `IEnumerable<bool>` ticked once per control cycle; `true` = keep going, end-of-iteration = done.
2. `DriveTask.WaitDriveTask(...)` ticks at `Configuration.conf.DriveTaskInterval` ms and blocks the caller until the iteration ends.
3. Each tick: read pose → compute look-ahead point → pure-pursuit steer → write `vCmd` / `steerCmd`.
4. Exits when within ~50 mm of `(dstX, dstY)`.

== 调用样例 / Example ==
<syntaxhighlight lang="csharp">
public void DriveStraight(double sx, double sy, double dx, double dy)
{
Queue(async () =>
{
DriveTask.WaitDriveTask(new SteeringLineFollowing
{
srcX = sx, srcY = sy,
dstX = dx, dstY = dy,
basespeed = 600,
lookAhead = 500,
dFactor = 1.2f,
slowdown = true,
finSpeed = 100
}.Follow());
});
}
</syntaxhighlight>

== 调试要点 / Tuning ==
{| class="wikitable"
! 现象 / Symptom !! 调整 / Adjustment
|-
| 路径偏移 / Drifts off the line || 增大 `dFactor`（默认 1.2），但太大会震荡
|-
| 在终点震荡 / Oscillates at goal || 启用 `slowdown` 并增大 `slowdownDist`
|-
| 终点冲过 / Overshoots || 降低 `basespeed` 或减小 `finSpeed`
|-
| 弯道内切 / Cuts inside corner (短线段段拼接时) || 减小 `lookAhead`
|-
| 慢速时跟不准 / Poor tracking at low speed || `dFactor` 与速度成反比；低速时增大
|-
| 反向跑歪 / Reverse drifts || 检查后向激光雷达视野；可能未启用，导致姿态误差累积
|}

== 与其它 Movement 的衔接 / Composing with other Movements ==
* 取货 / 放货前的接近 — 后接 `AutoFetchGood` / `AutoShelfFetching_ManyLegs`。
* 绕障 — 见 [[Special:MyLanguage/绕障行走|绕障行走]]。
* 反向出库 — 用 `SteeringLineFollowingReverse`，搭配同样的字段。
* 长路径 — SimpleComposer 调度会把长路径切成若干段 LineFollowing 拼接，每段一个 `srcX/Y → dstX/Y`。

== 注意 / Caveat ==
LineFollowing 是 ''几何意义''上的直线段跟踪，''与车型无关''。但具体 Movement 内部隐含假设：阿克曼 / 差速车型可以 ''转向即改向''。对全向车应改用 `OmniLineFollowing`（见 [[Special:MyLanguage/全向车适配案例|全向车适配案例]]），它允许车身朝向独立于运动方向。

`SteeringLineFollowing` is a geometric line-segment tracker but implicitly assumes Ackermann / differential kinematics. For omni vehicles use `OmniLineFollowing` (heading independent of motion direction) — see the omni case study.

== 相关页面 / See also ==
* [[Special:MyLanguage/绕障行走|绕障行走]]
* [[Special:MyLanguage/车体抽象原理|车体抽象原理]]
* [[Special:MyLanguage/Clumsy-API|Clumsy-API]]

[[Category:运动控制使用手册]]

巡线行走 - 版本历史

Artheru：​Initial bilingual draft (auto-published)

Artheru：Initial bilingual draft (auto-published)