Omni-dorectional pure pursuit with feed forward upgrade(reddit.com)

In my previous post was a little showcase of my implementation of the pure pursuit path tracking algorithm for omni-directional robots. One of the missing features is the safe curve approaching. The robot doesn't know the upcoming curve and it won't slow down (enough, at least in the previous implementation). Now I added the feed-forward lookahead that will calculate the slowdown cost based on the total sum of the angle differences of every three pose points in a small set of lookahead points. And the slowdown cost then plugged into the e^-x function and used it to scale the maximum velocity. Now it seems that the robot approaches the curve more smoothly. Additional stuff still needs to be added such as the acceleration limit and the better last pose point brake. If you are interested, you can check it out here over GitHub : https://github.com/E12-CO/iRob_bot_ros2 submitted by /u/TinLethax [link] [Kommentare]

Source: https://www.reddit.com/r/robotics/comments/1txqs3i/omnidorectional_pure_pursuit_with_feed_forward/