Initial Trajectory Generation for the Gokart

[datahaki]

Motivation

The task description is the result of the discussion on 2018-03-05.
The motivation for the approach described below is to have available a baseline trajectory planner for a fixed map as soon as possible that can be integrated with the gokart in the hangar.
The initial use of GLC in favor over RRT* was proposed by @ynager.

Background

• The owly repository includes an implementation of the GLC planner. The state-space model for a car-like robot without slip is available.
• At the moment, 1) the goal of the planner is updated via user interaction by mouse input, and 2) the simulated robot follows the trajectory at constant speed.

Task Description

• Auto-generate goals for the planner so that the simulated robot loops indefinitely within a map. This can be achieved for instance by predefining a collection of way-points.
• Update the goal and replan based on proximity (instead of elapsed time).
• Modify the simulated robot to vary in velocity (between zero and max speed) so as to more realistically simulate the gokart's pure pursuit mode.
• The planner should be demonstrated to work with a map that approximates the free space available to the gokart in the hangar.

Related Work

https://www.youtube.com/watch?v=SQuYCnUP5Fg
https://www.youtube.com/watch?v=-YZ1ro5RMVk

[datahaki]

@ynager nice! i have merged your branch into master. please pull and work in a new branch with id 002.