Скачать или смотреть Kinodynamic Trajectory Optimization and Control for Car-Like Robots

This video presents kinodynamic motion planning and predictive control based on Timed-Elastic-Bands.

In particular, the approach is applicated to a Lego Mindstorms Ev3 car-like robot.
Significant parameters of the robot are:
width: 0.2 m
length: 0.28 m
maximum steering angle: 0.6 rad
wheelbase L: 0.19
maximum velocity: 0.15 m/s
The robot is localized with an OptiTrack motion capture system.
Nine boxes are representing static obstacles which are also tracked by the motion capture system. Notice, only obstacles within the perceptual range of the robot are considered for planning (see red cells in the visualization frame).
Each time a new goal is commanded to the system, the global planner plans a coarse path to the goal without taking the kinematics of the robot into account. The local planner (TEB) obtains intermediate goals from the global planner within a perceptual range of 1 m.
Transitions with different start and goal positions are investigated.

The approach is presented in
[1] Rösmann, C., F. Hoffmann and T. Bertram: Kinodynamic Trajectory Optimization and Control for Car-Like Robots, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, Sept. 2017.

Refer to ROS Wiki for more details on the software: http://wiki.ros.org/teb_local_planner

The Institute of Control Theory and Systems Engineering (RST) at TU Dortmund is engaged in fundamental research in the fields of robotics and computational intelligence. Furthermore, the applied research focus is automotive systems and mechatronics. http://www.rst.e-technik.tu-dortmund.de