Hello,
I am using RRT Connect algorithm in OMPL library for my mobile robot to do the path planning. How can I set the velocity of mobile robot when it is following the path that planned by OMPL? I've check all the OMPL API functions. I don't see any relative function.
Thank you.
Best regards,
Ting
How to set the robotic velocity by using OMPL path planning method
Re: How to set the robotic velocity by using OMPL path planning method
OMPL gives you a geometric path.
You can follow that path at any velocity you like.
Usually you have to implement a small feedback scheme to follow the path, e.g.: slightly turn left if the robot is to the right of the path, and vice-versa.
This is known in literature as mobile robot trajectory tracking.
You can follow that path at any velocity you like.
Usually you have to implement a small feedback scheme to follow the path, e.g.: slightly turn left if the robot is to the right of the path, and vice-versa.
This is known in literature as mobile robot trajectory tracking.