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Getting an RC car to follow a predetermined path

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Hi,

 

I have a camera (on the ceiling) that reads the RC car's location and send back the data (x,y and yaw) to the pc using udp. (I am using ROS for this)

 

I want to have make the car follow a predetermined path (a track), I am quite confused on where to start. I have seen the A* and the AD* algorithms but they seem to be just to find the optimum path.

The RC car is controlled by the analogue outputs on the myRIO.

 

Can anyone give me advice on how to approach this?

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Hey there, 

 

The easiest way is to use the coordinates of the path created by the A* path as moving goals in the VFH algorithm (included with LabVIEW Robotics).  That way you use the map to create the desired path, and then VFH to follow it, which allows you to avoid any obstacles you didn't detect on your map.

A* path planning: 

https://forums.ni.com/t5/LabVIEW-Robotics-Documents/An-Introduction-to-A-Path-Planning-using-LabVIEW...

 

There are some other more advanced approaches that consider the arc of the robot takes as well as replanning.  Here are some references to get you started if you want to look into using something more advanced:

http://scholar.lib.vt.edu/theses/available/etd-01162006-112326/unrestricted/AnkurThesis.pdf

http://www.recentonline.ro/028/Petrov_R28.pdf

http://www.flux.utah.edu/~flikx/publications/Flickinger_Daniel_thesis_20071012.pdf

http://www.cs.cmu.edu/~motionplanning/papers/sbp_papers/s/stentz_D2.pdf

 

 

Hope this helps!

Cheers

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Thanks for the prompt reply.


The easiest way is to use the coordinates of the path created by the A* path as moving goals in the VFH algorithm (included with LabVIEW Robotics).  That way you use the map to create the desired path, and then VFH to follow it, which allows you to avoid any obstacles you didn't detect on your map.

A* path planning: 

https://forums.ni.com/t5/LabVIEW-Robotics-Documents/An-Introduction-to-A-Path-Planning-using-LabVIEW...

 


One more question, is it possible to follow a simple track like this (the picture attached below: drawn quickly for illustration purposes) using the VFH algorithm?????
track pic.JPG

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Right now, I am not really bothered about having an optimal path, I just want the rc car to follow a path that I specify (like the picture that I posted above)

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