On Wed, Dec 8, 2010 at 5:21 PM,
<DRamachandran@hra.com> wrote:
Apologies if this question has been
answered before or is the wrong question or something. I am not an expert
in this area.
We would like a controller for a robot
with car-like kinematics. DWA and trajectory rollout assume that the robot
can have an
independent rotational velocity but
this is not possible in our robot. It is 4-wheeled and has a steering angle
for the front two wheels which
controls the change in heading in conjunction
with the forward velocity. I already have a high level planner for
generating a plan from init to goal
based on an A* like algorithm but we
need a low-level controller. What is the best solution using ROS? Should
I modify DWA /TR so that it can
sample trajectories with car-like dynamics?
Is this already implemented somewhere?
Thanks,
~Deepak
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