Autonomous navigation framework for a car-like robot
This technical report describes the work done to develop a new navigation scheme for an autonomous car-like robot available at the Mobile Robotics Laboratory at IRI. To plan the general path the robot should follow (i.e. the global planner), a search based planner algorithm, with motion primitives w...
| Autores: | , |
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| Tipo de recurso: | informe técnico |
| Fecha de publicación: | 2015 |
| País: | España |
| Institución: | Universitat Politècnica de Catalunya (UPC) |
| Repositorio: | UPCommons. Portal del coneixement obert de la UPC |
| Idioma: | inglés |
| OAI Identifier: | oai:upcommons.upc.edu:2117/83916 |
| Acceso en línea: | https://hdl.handle.net/2117/83916 |
| Access Level: | acceso abierto |
| Palabra clave: | Mobile robots Robot kinematics Autonomous navigation Classificació INSPEC::Automation::Robots::Robot kinematics Àrees temàtiques de la UPC::Informàtica::Robòtica |
| Sumario: | This technical report describes the work done to develop a new navigation scheme for an autonomous car-like robot available at the Mobile Robotics Laboratory at IRI. To plan the general path the robot should follow (i.e. the global planner), a search based planner algorithm, with motion primitives which take into account the kinematic constraints of the robot, is used. To actually execute the path and avoid dynamic obstacles (i.e the local planner) a modification of the DWA algorithm is used, which takes into account the kinematic constraints of the ackermann configuration to generate and evaluate possible trajectories for the robot. The whole navigation scheme has been integrated into the ROS middleware navigation framework and tested on the real robot and also in a simulator. |
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