Path following is a crucial technique for ensuring the safe and efficient operation of automatic electric vehicles. Four-wheel steering (4WS) technology is known to enhance the accuracy and ...

RobotCAD is a FreeCAD workbench to generate robot description packages for ROS2 (URDF) with launchers to Gazebo and RViz. Includes controllers based on ros2_controllers and sensors based on Gazebo.

The objective of this work is to demonstrate that autonomous collision avoidance manoeuvres based on optimal control motion planning improve the safety margins and can fully exploit the vehicle ...