trajectory_tracking_control

ROS Trajectory Tracking Control package for differential drive and skid-steer drive mobile robots. Using B-Spline Interpolation to generate reference trajectories.

Constant Trajectory

From a given path

References

• Books:

  • "Wheeled Mobile Robotics: From Fundamentals Towards Autonomous Systems".

• Articles:

  • a

Project plan

Design types developped:

✔️ Linear Control

⬜️ Lyapunov-Based Control

⬜️ Model-Based Predictive Control

Handle Obstacles:

⬜️ handle unknown obstacles in the trajectory seen by the perception sensors

⬜️ Add dynamic reconfiguration

⬜️ Add others methods to generate trajectories

Launch

1. NODES

1.1 trajectory_controller

This node provides an implementation of a trajectory tracking controller through a ROS Action Server. Given the action goal, this node computes the velocity commands to move the robot from an initial point to a goal point.

1.1.1 Expected Behavior

1.1.2 Action API

Action Subscribed Topics

Action Published Topics

1.1.3 Subscribed Topics

1.1.4 Published Topics

1.1.5 Services

~service1()

1.1.6 Parameters

~param1()

~param2()

1.2 reference_states_server

This node provides an implementation of the ROS Service Server that computes the reference states (position, velocity, and acceleration) of a trajectory given a path, the average velocity desired, and the sampling time. The reference trajectories are generated using Cubic B-Spline Interpolation.

1.2.1 Expected Behavior

1.2.2 Action API

1.2.3 Subscribed Topics

1.2.4 Published Topics

1.2.5 Services

1.2.6 Parameters