Vector Field Motion Profiling

Please note that this is incomplete, but explains the general idea behind using vector fields to profile a curve.

Path generation via vector fields is a simple multivariable calc formula, which you can view in app.py.

These fields can be used to profile a robot to a given spline, provided you know the equation for the spline and the robot's approximate <x,y> position vector.

Example of field generation

Desmos-Based Example

Now uses derivative as a coefficient for more advanced correction

XY Correction

Path Correction

XY Correction

Legacy Work

X Correction

Y Correction

XY Correction

Path Correction (x^2)

Combined Correction