MATEC Web Conf.
Volume 75, 20162016 International Conference on Measurement Instrumentation and Electronics (ICMIE 2016)
|Number of page(s)||5|
|Section||System Modeling and Analysis|
|Published online||01 September 2016|
Golf cart prototype development and navigation simulation using ROS and Gazebo
1 Intelligent Robotic Systems Laboratory (LIRS), Innopolis University, 420500, Universitetskaya 1, Innopolis, Russia
2 Department of Mechanical Engineering and Science, Graduate School of Engineering, Kyoto University, Kyoto, Japan
This paper presents our approach to development of an autonomous golf cart, which will navigate in inaccessible by regular vehicles private areas. For this purpose, we have built a virtual golf course terrain and golf cart model in Gazebo, selected and modernized ROS-based packages in order to use them with Ackermann steering vehicle simulation. To verify our simulation and algorithms, we navigated the golf cart model from one golf hole to another within a virtual 3D golf course. For the real world algorithms’ verification, we developed a small-size vehicle prototype based on Traxxas radio-controlled car model, which is equipped with an on-board controller and sensors. The autonomous navigation of Traxxas-based vehicle prototype has been tested in indoor environment, where it utilized sensory data about environment and vehicle states, and performed localization, optimal trajectory computation and dynamic obstacles’ recognition with adjusting the route in real time.
© The Authors, published by EDP Sciences, 2016
This is an Open Access article distributed under the terms of the Creative Commons Attribution License 4.0, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
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