KAN201197/Path_Tracking_with_ROS

This repository show the implementation of Path Tracking using Pure Pursuit and MPC Algorithm in Autonomous Mobile Robot

Path Tracking in ROS using Pure Pursuit & MPC Algorithm

This repository implements two different algorithms for path tracking in ROS: Model Predictive Control (MPC) and Pure Pursuit. Both algorithms are designed to guide a robot along a predefined path while maintaining stability and accuracy.

Introduction

Path tracking is an essential capability for autonomous mobile robots, enabling them to follow a desired trajectory accurately. This repository provides a ROS-based implementation of two popular path tracking algorithms:

• Model Predictive Control (MPC)
• Pure Pursuit

Features

• Model Predictive Control (MPC): Uses a mathematical model to predict the future states of the robot (based on horizontal horizon) and optimize control inputs accordingly.
• Pure Pursuit: A geometric algorithm that computes the necessary steering angle to reach a lookahead point on the path.
• PID Controller: Used to control linear velocity of the robot.
• ROS Integration: Fully integrated with ROS for real-time operation.
• Dynamic Reconfigure: Allows runtime parameter tuning.

Prerequisites

• System Requirements:
  • Ubuntu 20.04
  • ROS Noetic
  • C++11 and above
  • CMake: 3.0.2 and above
  • ACADO (can be installed through this link: https://github.com/acado/acado)
• This repo depends on the following standard ROS pkgs:
  • roscpp
  • rospy
  • rviz
  • std_msgs
  • nav_msgs
  • geometry_msgs
  • visualization_msgs
  • tf2
  • tf2_ros
  • tf2_eigen
  • tf2_geometry_msgs
  • gazebo_ros
  • jsk_rviz_plugins
  • jackal_gazebo
  • jackal_navigation
  • velodyne_simulator
  • dynamic_reconfigure

Building the Package (Installation)

This repo is a ros workspace, containing two rospkgs:

• me5413_world the main pkg containing the gazebo world, source code, and the launch files
• jackal_description contains the modified jackal robot model descriptions

1. Build ROS workspace and Clone the repository:

   mkdir ~catkin_ws/src -p
   
   cd catkin_ws/src
   
   git clone https://github.com/KAN201197/Path_Tracking.git
   
   cd ..
   
   rosdep update
   
   rosdep install --from-paths src --ignore-src -r -y

2. Build the package using catkin_make:

   cd ~/catkin_ws
   
   catkin_make
   
   source devel/setup.bash

Usage

Running the Nodes

1. Launch the ROS master:

   roscore

2. In a new terminal, launch the gazebo world:

   roslaunch me5413_world world.launch

   

3. In a new terminal, launch the MPC path tracker:

   roslaunch me5413_world path_tracking_MPC.launch

4. If you want to run other path tracking algorithm, launch the Pure Pursuit path tracker:

   roslaunch me5413_world path_tracking.launch

   

Configuration

The dynamic reconfigure server allows you to adjust parameters at runtime. You can use rqt_reconfigure to tune the following parameters:

• speed_target: Desired speed of the robot.
• robot_length: Length of the robot for kinematic modeling.
• PID_Kp, PID_Ki, PID_Kd: PID controller gains.
• lookahead_distance: Distance to the lookahead point.