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Planner for Car-Like Robot

asked 2015-09-04 12:26:00 -0500

baronep gravatar image

Let me begin by saying that I have done my obligatory "google-ing" and I know there has been discussion, but I have not found a satisfactory answer and therefore I am asking here ...

I am trying to come up with a solution for path planning for a large, custom UGV (essentially a drive-by-wire utility vehicle). I understand that the ros nav packages generally do not support "Ackermann steering" vehicles. I would like to solicit opinions on how I should proceed, here are a couple paths forward that I can see ...

1) Write custom base_local_planner and base_global_planners which take into account the kinematic constraints of an Ackermann steering vehicle

2) Use a library like MoveIt (is this even possible?)

3) Start from scratch and ditch move_base and everything inside

I see blog posts and such of people using ROS on their steered vehicles, but the documentation of such systems seems to be lacking. Any advice would be well appreciated!

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Hi, would you have solved your problem?

ljxiang gravatar image ljxiang  ( 2016-03-30 21:28:44 -0500 )edit

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answered 2016-03-31 10:53:01 -0500

baronep gravatar image

So since posting this question, one of the base local planners has been extended to incorporate the kinodynamic constraints associated with an ackermann drive vehicle. Check out

TEB_LOCAL_PLANNER

I have not managed to get it running too robustly but that may just be a problem with my configuration. Good luck

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thanks for suggesting the planner ;-) I am going to improve the support of carlike robots in a few weeks (april/may). Currently the planner assumes a circular robot for collision avoidance, which is often not the case (especially for carlike robots). But you might give it a try even now.

Cheers

croesmann gravatar image croesmann  ( 2016-04-01 04:11:13 -0500 )edit
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answered 2015-09-08 02:42:16 -0500

Procópio gravatar image

I suggest you check the Ackermann Group page. The discussion about controlling an Ackermann vehicle has been going on for some time now and I'm sure you can find lots of useful resources there.

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I have been monitoring this interest group and it doesn't look like there has been any movement in the past year.

baronep gravatar image baronep  ( 2015-09-08 10:12:35 -0500 )edit
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answered 2015-09-07 19:06:05 -0500

Jim Rothrock gravatar image

I suggest writing global and local planners that support an Ackermann vehicle. You'll have to extend move_base so that it can publish AckermannDriveStamped messages to ackermann_cmd instead of publishing Twist messages to cmd_vel. You might want to write some recovery behaviors that will work with an Ackermann vehicle.

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Asked: 2015-09-04 12:26:00 -0500

Seen: 1,870 times

Last updated: Mar 31 '16