A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 9

Mobile-Robot Motion Control

CONTENTS

9.1 Desired state generation

9.1.1 From paths to trajectories

9.1.2 A trajectory builder library

9.1.3 Open-loop control

9.1.4 Desired state publishing

9.2 Robot state estimation

9.2.1 Getting model state from Gazebo

9.2.2 Odometry

9.2.3 Combining odometry, GPS and inertial sensing

9.2.4 Combining odometry and LIDAR

9.3 Differential-drive steering algorithms

9.3.1 Robot motion model

9.3.2 Linear steering of a linear robot

9.3.3 Linear steering of a non-linear robot

9.3.4 Non-linear steering of a non-linear robot

9.3.5 Simulating non-linear steering algorithm

9.4 Steering with respect to map coordinates

9.5 Wrap-Up

INTRODUCTION

The driving subsystem of a mobile robot is responsible for making it ...