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Look-ahead control

Look-ahead control is feedback controller for nonholonomic mobile robot systems. The mobile robot follows a predefined point a set distance from the center of the robot. The look-ahead controller is designed by using input-output linearization and nonholonomic constraint equations. Look-Ahead Control

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ROS Parameters

  • lookahead_distance_x (double, default: 0.5 meters) - define distance with respect to mobile robot
  • lookahead_distance_y (double, default: 0.5 meters) - define distance with respect to mobile robot
  • robot_rot_vel (double, default: 140 rad/s) - maximum angular speed of the robot
  • gains_kp_1 (double, default: 0.3)
  • gains_kp_2 (double, default: 0.3)

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A differential drive controller implemented on ROS

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