Trajectory Planning ROS Service for an Autonomous Agricultural Robot

摘要

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.