simply trajectory generation for a ground robot

Hi,

so far i already model, trajectory tracking control.

but i dont know how to do the trajectory generation,

for example, how do i make the ground robot to move a "S" shape and avoid obstacle?

Answer 1

[Amrtanshu Raj]

Hi,

The waypoint Trajectory Generator will be able to generate a "S" shape trajectory. You can give waypoints along the "S" Shap as per your requirement. The Obstacle avoidance can been accounted while generating the waypoints.

Hope tehis helps!!