The aim of this work is to integrate and analyze the performance of a path planning method based on Time Elastic Bands (TEB) in\nreal research platformbased on Ackermannmodel.Moreover, it will be proved that allmodules related to the navigation can coexist\nand work together to achieve the goal point without any collision. The study is done by analyzing the trajectory generated from\nglobal and local planners. The software prototyping tool is Robot Operating System (ROS) fromOpen Source Robotics Foundation\nand the research platform is the iCab (Intelligent Campus Automobile) from University Carlos III. This work has been validated\nfroma test inside the campuswhere the iCab has performed the navigation between the starting point and the goal pointwithout any\ncollision. During the experiment, we proved the low sensitivity of the TEB method to variations of the vehicle model configuration\nand constraints.
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