[ros-users] controllers for car-like robots

[Tully Foote]

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 at 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
>
> ------------------------------------------------------------------------------
> This SF Dev2Dev email is sponsored by:
>
> WikiLeaks The End of the Free Internet
> http://p.sf.net/sfu/therealnews-com
> _______________________________________________
> ros-users mailing list
> ros-users at lists.sourceforge.net
> https://lists.sourceforge.net/lists/listinfo/ros-users
>
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
>


-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.ros.org/pipermail/ros-users/attachments/20101208/2fbfcd46/attachment-0003.html>