Hi Deepak,
I'm not familair with the ART codebase but you may want to look here
http://www.ros.org/wiki/art_nav
Tully
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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--
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote@willowgarage.com
(650) 475-2827
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