Look-ahead control is feedback controller for nonholonomic mobile robot systems. The
mobile robot follows a predefined point a set distance from the center of the robot.
The look-ahead controller is designed by using input-output linearization and nonholonomic
constraint equations.
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odometry(nav_msgs/Odometry) -
point_desired(geometry_msgs/PoseStamped) - We want to use this eventually as a path planner
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cmd_vel(geometry_msgs/Twist)
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lookahead_distance_x(double, default: 0.5 meters) - define distance with respect to mobile robot -
lookahead_distance_y(double, default: 0.5 meters) - define distance with respect to mobile robot -
robot_rot_vel(double, default: 140 rad/s) - maximum angular speed of the robot -
gains_kp_1(double, default: 0.3) -
gains_kp_2(double, default: 0.3)