TEB for articulated center steering

[zonared]

This is not so much an issue but is really a question of how to modify this planner so it support center articulation (like a front-end loader )

How can the planner be modified to support such a robot?

Thanks in advance, David...

[lijiaming5550]

Hello, how is the model of your articulation structure created, and is there any relevant information you can recommend? At present, I am also working on the planning algorithm of articulated structures, and we can communicate more。