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Autonomous Mobile Manipulation

Guidance: L1 Guidance, Pure Pursuit, Stanley Controller

C. Papachristos

Robotic Workers (RoboWork) Lab

University of Nevada, Reno

CS-791

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Non-Holonomic Guidance

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

Damping Ratio

with

 

 

Natural Frequency

(Underdamped)

Homogeneous 2nd Order Differential Equation:

Zero-input Natural Response to I.C.

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

 

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

Pure Pursuit – Bicycle Model Steering

​

  • Extension of Pure Pursuit for Steering-based navigation��

​

​

​

  • Also have:

​

​

​

  • Therefore Pure Pursuit�guidance Steering law�becomes:

 

 

Bicycle Model :

 

Curvature

CS791 C. Papachristos

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Non-Holonomic Guidance

 

 

 

 

Curvature

and

 

Bicycle Model :

CS791 C. Papachristos

 

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Non-Holonomic Guidance

 

 

 

CS791 C. Papachristos

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Non-Holonomic Guidance

 

CS791 C. Papachristos

 

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Non-Holonomic Guidance

 

 

 

 

 

CS791 C. Papachristos

 

Note: Not the same as Bicycle model Pure Pursuit (Why?)

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Time for Questions !

CS-791

CS791 C. Papachristos