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## 問題 加速度制限の計算で使用する current_vel_local（前回の出力速度）が 前回の制御周期のローカルフレームで保持されていた。 ロボットが回転すると今回の target_vel_local（現在のローカルフレーム）と 座標系がずれ、Δv が過大評価または過小評価される問題があった。 例: 前回 forward=3.0、今回ロボットが90°回転した場合 delta_vel = (0, -3) - (3, 0) = (-3, -3) → ‖Δv‖=4.24 m/s（実際は変化なし） ## 修正 PerRobotState::previous_velocity を previous_velocity_global にリネームし、 グローバルフレームで速度を保持するよう変更: - 読み取り時: グローバル→現在ローカル変換 R(-θ) を適用 - 書き込み時: 現在ローカル→グローバル変換 R(θ) を適用 これにより、ロボットが回転してもΔvが正しく計算され、 移動方向と正面方向が大きく乖離する動作（後退走行・横移動等）での 経路逸脱が改善される。
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