Improve Steering Controllers Documentation

ros-controls / ros2_controllers

Generic robotic controllers to accompany ros2_control

https://control.ros.org

Apache License 2.0

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Improve Steering Controllers Documentation #931

Open christophfroehlich opened 10 months ago

christophfroehlich commented 10 months ago

In general, I'd appreciate more documentation of the kinematics in the docs for all controllers here. Is there any publicly available reference/book for these mobile robot kinematics we could refer to? I'd happy to help with writing the docs, and maybe writing proper tests for the implementations. But I'm not "fluent" with these type of kinematics, I'd need a textbook for that.

_Originally posted by @christophfroehlich in https://github.com/ros-controls/ros2_controllers/issues/878#issuecomment-1837235341_

christophfroehlich commented 10 months ago

For example, some simple sketches showing the system inputs of the different steering geometries. Pictures with appropriate licenses could be used and adapted, e.g., from wikipedia. This might also be related with #692

bmagyar commented 10 months ago

I'd suggest relying on Wikipedia as much as possible. The core equations are usually well explained but figures may be lacking.

christophfroehlich commented 10 months ago

I haven't found anything appropriate to Ackermann steering for example :man_shrugging:

ARK3r commented 10 months ago

This is a resource that I found useful: https://msl.cs.uiuc.edu/planning/node657.html

christophfroehlich commented 9 months ago

Some literature review

From above or as PDF version (Tri-Cylce, Simple Car)
@franzrammerstorfer mentioned Lynch, Kevin M., and Frank C. Park. Modern Robotics: Mechanics, Planning, and Control 1st ed. Cambridge, MA: Cambridge University Press, 2017, which has a PDF preprint available. (Car-Like Robot)
Siciliano et.al Robotics: Modelling, Planning and Control (Bicycle)
Ribeiro, Lima - KINEMATICS MODELS OF MOBILE ROBOTS (Tricycle)

They all handle the kinematics of car-like robots in state-space form, but none is discussing odometry etc. of the different geometries @ARK3r has pointed to here. I guess we have to write that on our own :nerd_face: