[ros-users] Nav Stack with nonholonomic robots

[Steven Martin]

Hi Guys,

I have the Nav stack running on a couple of irobot creates we have in our lab and I have implemented my own global path planner using some optimal control stuff I have been working on. However the local DWA path planning really doesn't do a very good job at following the global path. I have had a bit of a look through the source and the paper on DWA and it should work fine for the nonholonomic robots.

I was wondering if anyone could suggest a set of parameters for the local planner? And can anyone else comment on the performance of the Nav Stack on the creates?


Cheers

Steven Martin
steven.martin at qut.edu.au

PhD Student
Queensland University of Technology
Gardens Point, S1107
-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.osuosl.org/pipermail/ros-users/attachments/20100902/aca6b38e/attachment-0002.html>