OTHER
Trajectory Planning ROS Service for an Autonomous Agricultural Robot
Lorenzo Gentilini, Simone Rossi, Dario Mengoli, A. Eusebi, Lorenzo Marconi
- Year
- 2021
- Citations
- 8
Abstract
In this work, we present a Robot Operating System (ROS) service implementation to generate polynomial trajectories for an Unmanned Ground Vehicle (UGV). The algorithm has been tested on a tracked robotic platform in order to follow a set of waypoints in an open-field navigation scenario, using a state-feedback controller. The odometry estimation of the ground robot leverages on GNSS readings and motor encoders. Experimental tests are analyzed and results presented.
Keywords
Unmanned ground vehicleGNSS applicationsOdometryRobotComputer scienceEncoderTrajectoryMobile robotService robotVisual odometry
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