Ask Your Question
0

Starting point of teb_local_planner

asked 2018-01-01 11:21:56 -0600

madmax gravatar image

Right now i have a car which I want to control with the teb_local_planner at walking speed.
And as the base_link is above the rear axle, the plan is constructed from there through the footprint and out of the front bumper.

So my question is, as the plan inside the footprint is irrelevant, can I use the front bumper as the starting point for the planner?

local path

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted
2

answered 2018-01-02 02:27:47 -0600

croesmann gravatar image

Even if the plan inside the footprint appears to be irrelevant, it is not. The car is modeled by a unicycle model, in particular non-holonomic kinematics including a limited turning radius. Changing the position to the front axle would result in a substantially different model w.r.t. the real kinematics.

For some basic information the car-like model, refer to LaValle's book. You might also check the teb_local_planner carlike tutorial.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

2 followers

Stats

Asked: 2018-01-01 11:21:56 -0600

Seen: 136 times

Last updated: Jan 02 '18