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Robotics Assignment Bicycle Model Controller and Path Following

The document discusses a bicycle model controller and ODE solver. It describes the bicycle model dynamics using differential equations. It also provides a brief description of the trajectory generation procedure using Rapidly-exploring Random Trees (RRT) waypoints and mentions plotting the RRT path and actual robot path in different colors.

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7 views

Robotics Assignment Bicycle Model Controller and Path Following

The document discusses a bicycle model controller and ODE solver. It describes the bicycle model dynamics using differential equations. It also provides a brief description of the trajectory generation procedure using Rapidly-exploring Random Trees (RRT) waypoints and mentions plotting the RRT path and actual robot path in different colors.

Uploaded by

dsuyash57
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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Bicycle Model Controller and ODE Solver

Bicycle Model Dynamics:


- The bicycle model is a simplified representation of the kinematics of a wheeled robot or
vehicle, approximating its motion to that of a bicycle.
- In this model, the state of the robot is defined by its position coordinates (x, y) and its
heading (θ).
- The control inputs are the velocity (v) and the steering angle (δ).
- The dynamics of the bicycle model are described by the following differential equations:
dx/dt = v * cos(θ)
dy/dt = v * sin(θ)
dθ/dt = v / L * tan(δ)

Where, L is the wheelbase of the bicycle, representing the distance between the front and rear
wheels.

b) Brief description of Trajectory generation procedure using the RRT waypoints

 The trajectory generation procedure using Rapidly-exploring Random Trees (RRT)


waypoints involves several key steps to create a navigable path for a robot or vehicle in
an environment with obstacles. Here is a brief description of this procedure:
 Environment Definition: The procedure begins with defining the robot's operating
environment. This includes the size of the space, the start and goal positions, and the
locations and dimensions of any obstacles.
 Initialization of RRT: An RRT starts from the initial position of the robot. This node (or
point) acts as the root of the RRT.
 Random Sampling: The algorithm randomly samples points in the environment. These
points are potential candidates for new nodes to be added to the RRT
 Nearest Neighbor Search: For each sampled point, the algorithm finds the nearest
existing node in the tree.
 Steering and Collision Checking: The algorithm then determines a new node by
"steering" from the nearest node towards the sampled point. The steering distance is
usually limited by a predefined maximum step size. Before adding this new node to the
tree, the algorithm checks for potential collisions with obstacles. If the path to the new
node crosses an obstacle, the node is discarded.
 Bidirectional Expansion (optional): In a bidirectional RRT, two trees are grown
simultaneously - one from the start and another from the goal. This approach can speed
up the pathfinding process.
 Path Found: The process repeats until a path from the start to the goal is found. In a
bidirectional RRT, this is when the two trees connect.
 Extracting the Path: Once the trees connect, the algorithm traces back from the goal
node to the start node (or vice versa), extracting the sequence of nodes that constitutes
the path. This sequence forms the waypoints for the robot's trajectory.
 Trajectory Smoothing (optional): The raw path generated by RRT may be jagged or
inefficient. A post-processing step can be applied to smooth the path, ensuring more
practical and efficient navigation for the robot.
 Final Trajectory for the Robot: The result is a trajectory composed of waypoints that
navigate around obstacles, leading the robot from its start position to its goal. This
trajectory can then be fed into a robot controller for navigation.
 The RRT-based trajectory generation is particularly useful in complex environments with
many obstacles, as it efficiently explores space while ensuring a feasible path for the
robot.

c) Plot of the RRT path and the actual path followed by the robot using different
colors.

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