CihatAltiparmak / My-Planning-Control-Studies

My-Planning-Control-Studies

Installation

Firstly, install ros foxy from here

Install the matrix library, which i have developed, from here

Create any workspace and clone this repository here.

mkdir jarbay_ws/src -p
cd jarbay_ws/src
git clone https://github.com/CihatAltiparmak/My-Planning-Control-Studies
cd ..
source /opt/ros/foxy/setup.bash
colcon build

Source bash file

source install/setup.bash

Now, open three terminal and just do it by sourcing install/setup.bash in all terminal respectively ;)

terminal1

source install/setup.bash
ros2 run control lqr

terminal2

source install/setup.bash
python3 src/jarcar/src/car.py

terminal3

source /opt/ros/foxy/setup.bash
python3 src/jarcar/src/a.py

Video from our controller

Useful Links

https://doi.org/10.1109/ChiCC.2016.7553742

https://automaticaddison.com/linear-quadratic-regulator-lqr-with-python-code-example/

Citation

@INPROCEEDINGS{7553742,
  author={Lin, Fengda and Lin, Zijian and Qiu, Xiaohong},
  booktitle={2016 35th Chinese Control Conference (CCC)}, 
  title={LQR controller for car-like robot}, 
  year={2016},
  volume={},
  number={},
  pages={2515-2518},
  abstract={This work studies the trajectory tracking for a car-like robot. Based on the kinematic equations of the mobile robot, an tracking error model is obtained. And then, this nonlinear model is linearized around origin. Based on local linearized model, an optimal controller is designed for the trajectory tracking problem by using optimal linear quadratic (LQ) design approach. The simulation shows the effectiveness of optimal LQR (linear quadratic regulator) controller for the cases where the robot tracks both straight and curve trajectories.},
  keywords={},
  doi={10.1109/ChiCC.2016.7553742},
  ISSN={1934-1768},
  month={July},}