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Existing motion planner for double Ackermann kynematics?

asked 2014-04-01 04:10:44 -0500

Oier gravatar image

updated 2014-04-01 04:11:02 -0500


I have a robot with double ackermann kynematics/steering, this means that the unlike in a conventional car, you can also steer the rear wheels and make use of crab like steering. Is there any open source path planner for these kind of robots? Can for example OMPL be used for this?



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Are you looking for a planner for the ROS navigation stack, or just a generic motion planning library?

ahendrix gravatar image ahendrix  ( 2014-04-01 19:52:37 -0500 )edit

@ahendrix I am looking just for a generic motion planning library, because the ROS navigation stack and MoveIt have too much overhead/features for my applications requirements. But the robot is built upon ROS and I use rviz for simulation. What motion planners can be used for double ackermann?

Oier gravatar image Oier  ( 2014-04-07 04:00:26 -0500 )edit

can you please post the link to you urdf file am planning to do slam double Ackerman ,but i can't able to fine any sample to start with .

abraham gravatar image abraham  ( 2019-02-27 11:48:04 -0500 )edit

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answered 2014-04-08 00:34:34 -0500

I´d also recommend using the sbpl_lattice_planner. We selectively use it on our double Ackermann steering USAR robots in case our exploration planner generates a plan that cannot be followed by the vehicle (because it would need to turn in place). That approach works pretty well both in simulation and with the real robot.

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thanks @Stefan Kohlbrecher! What made you choose sbpl_lattice_planner over a sampling based method like RRT with motion primitives?

Oier gravatar image Oier  ( 2014-04-08 23:35:46 -0500 )edit

SBPL was the only motion primitive based approach that was proven and already available as a ROS package, so we tried it first, with success.

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2014-04-09 01:38:21 -0500 )edit

@Stefan Kohlbrecher, can your give a little example how you created the mprim file with matlab? I dont get the introduction located at their homepage

schultza gravatar image schultza  ( 2016-03-22 03:31:34 -0500 )edit

answered 2014-04-07 23:20:16 -0500

ahendrix gravatar image

You should be able to configure SBPL and OMPL for your base, but this may be a bit of a research project. I suggest you contact the authors of both libraries for advice on how to use them well.

P.S. - rviz is not a simulator

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Asked: 2014-04-01 04:10:44 -0500

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Last updated: Apr 08 '14