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.

Subscribed Topics

• odometry (nav_msgs/Odometry)
• point_desired (geometry_msgs/PoseStamped) - We want to use this eventually as a path planner

Published Topics

• cmd_vel (geometry_msgs/Twist)

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)