Implementation of a motion planning algorithm for the Ackermann kinematics USAD vehicle

The stage project involves the implementation of a motion planning and control algorithm for an ackerman kinematics vehicle known in the literature (U. Schwesinger, M. Rufli, P. Furgale, R. Siegwart, A Sampling-Based Partial Motion Planning Framework for System-Compliant Navigation along a Reference Path ").

Work will focus on implementing the algorithm within the ROS framework navigation stack as a new local planning module. An experimental phase on the autonomous laboratory machine is planned. As regards the training objectives, the student is expected to acquire the ability to understand the functioning of the ROS navigation stack as well as the operation of the framework itself.