Path planning for ackerman type vehicle

asked 2021-04-21 10:46:21 -0500

Razek gravatar image

ROS version: melodic S.O .: Ubuntu 18.04

Hello everybody

I am working on a project where I must use both AirSim as a simulation platform and ROS as a control framework. One of the proposed objectives is to be able to implement a route planner in ROS, as the classic example of giving objectives to a differential robot, but in this case with a car (ackerman type vehicle).

However, given my little experience, I have been a couple of weeks without encouraging results. Within the packages that I have tested, there are:, but I have not been able to get it to work properly.

I wanted to know if someone has worked on a similar problem, or people with experience in controlling ackerman type vehicles with ROS, who could illuminate the route that I should follow.

I'm already grateful for your time

edit retag flag offensive close merge delete


Hello, I share some small advances that I have had. As I mentioned previously, I am trying to use the "local teb planner" with the simulated car in AirSim. I am relying on the example files from teb local planner for like car robot. I have modified some parameters based on the approximate dimensions of the simulated vehicle.

Here is the repository, in case someone wants to see (ros/src/tracer_planner). I also attach a video. As you can see, the vehicle can be oriented, but the translation is in small jumps.

I have tried adjusting the parameters of teb_local_planner, with no better results.

Razek gravatar image Razek  ( 2021-06-18 15:36:40 -0500 )edit