Ackerman vehicle autonomous drive

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Ackerman vehicle autonomous drive
Short Description: Development of an autonomous drive system for an Ackerman vehicle with the use of Move base ROS package
Coordinator: MatteoMatteucci (matteo.matteucci@polimi.it)
Tutor: MatteoMatteucci (matteo.matteucci@polimi.it)
Collaborator:
Students: MarcoCittar (marco.cittar@mail.polimi.it)
Research Topic:
Start: 2017/04/03
Level: Ms

The aim of this project is to develop a system of autonomous drive for an Ackerman vehicle in a known environment with the use of ROS architecture and, in particular, of the Move base package.

The robot receives the path to follow as a series of waypoints from a GUI controlled by a user, then the global planner creates a collision-free path for the robot to follow, which is created one waypoint at a time and according to the static map available. The local planner deals with unexpected obstacles that are in the way using the data coming from the laser sensor (IBEO) and the camera (VISLAB). Then commands are periodically sent to the robot to control its speed and orientation in a series of cycles until the goal is reached.

The tracking of the position is done through GPS and a node converts the coordinates from LLA (Longitude - Latitude - Altitude) to ENU (East - North - Up), to make the position relative to a know location in the map, which must be fixed before the execution.