Setup and Advanced Tuning Guide Manual

2202SouthRiversideDrive,Ames,IA50010
Phone:515‐232‐5363Internet:http://www.agleader.com


25‐Jun‐10‐RevE

23
ParaDymeLineAcquisitionTuning–Screens4through9

WhatisLineAcquisitionmodecomparedtoABlineholdingmode?

WheninLineAcquisitionmodetheParaDymesystemistryingtoacquiretheABline,notholdtheAB
line.InthismodetheParaDymevehiclecontrolleronlyusesSteeringandHeadingandignoresCross
TrackError.TheParaDymecontrollerswitchesfromLineAcquisitionModetoLineHoldingMode
approximately2secondsaftercrosstrackerrorislessthan6inches.AfterthattheParaDymevehicle
controllerisinABlineholdingmode.

HowdoestheParaDymeSystemdoLineAcquisition?

Inlineacquisitionmodethevehiclecontrollerlaysout2differentarcpathstofollow.
1) TheMinCurvaturearcpathstartswhenthevehicleis3to6feetfromtheABline.
2) TheMaxCurvaturearcpathstartswhentheParaDymesystemisengagedandendswhenthe
vehicleis9feet12feetofftheABline.
NOTE:Thepathbetweenthetwoarcpathsisatransitionbetweenthetwopaths.Figure12shows
anexampleofthearcpathsforaParaDymeSystem.


Figure12MinandMaxCurvatures
