Need Help with Implementation of Linear Quadratic Guassian for Trajectory Following [closed]

asked 2017-12-06 00:42:31 -0600

rohanpaleja27 gravatar image

Hi, So I am planning a project where I would like to do position estimation and velocity estimation for a car in gazebo where the output from the gazebo model is IMU data from the vehicle. For this I would like to use a Kalman filter to estimate the unknown states such as velocity and position (or just position if velocity is the input), and then use this estimate to do feedback control using the linear quadratic regulator. I am planning to use the Kuka Youbot for this and have already added an IMU.

Things I need help with: 1. Modeling the car in state space 2. How to plan a trajectory in gazebo and make the car follow it. I have done robot movement through moveit! but am unsure how to extend this.

Any advice would be appreciated

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Closed for the following reason question is off-topic or not relevant. Please see http://wiki.ros.org/Support for more details. by jayess
close date 2017-12-06 09:22:15.902984

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Although this is a robotics question it is not a ROS-related question. Perhaps you can get some help on https://robotics.stackexchange.com . With so many questions on the site we try to keep them ROS-related.

jayess gravatar image jayess  ( 2017-12-06 09:22:09 -0600 )edit
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