[ros-users] controllers for car-like robots

[Brian Gerkey]

On Thu, Dec 9, 2010 at 12:08 PM, <DRamachandran at hra.com> wrote:
> What we are looking at is something along the lines of LAGR, but in much more constrained spaces (indoor).  I think I will start by modifying DWA. That might be of most use to the ROS community as well.

FWIW, the Trajectory Rollout mode of base_local_planner (set ~dwa to
False) implements an algorithm that we developed some years ago
precisely for the LAGR robot.  It (our earlier implementation, not the
one in base_local_planner) worked very well on that vehicle.

	brian.