/motion_planning

Motion Planning Library to accompany turtlebot3_from_scratch repository. Aim to deploy PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, DWA and MPPI.

Primary LanguageC++

Motion Planning Library with ROS

Self-directed independent study.

Installation Guide:

  • git clone git@github.com:moribots/motion_planning.git
  • wstool init (uses the nuturtle.rosinstall file to get my rigid2d library and other utilities)

Completed:

  • The map package: roslaunch map viz_map.launch

    • Probabilistic Roadmap:
    PRM
    • Tunable-resolution Grid Map
    GRID

In progress:

  • The global_planner package:

    • A* (green) on PRM:
    ASTAR
    • Theta* (green) on PRM (A* in red for comparison): roslaunch global_planner astar.launch
    ASTAR
    • A* (green) on Grid
    ASTARG
    • LPA* with Simulated Grid Updates [re-evaluated cells in orange]: roslaunch global_planner incremental.launch lpa:=True
    LPASTAR
    • D* Lite on Grid [re-evaluated cells in orange]: roslaunch global_planner incremental.launch
    DSL
    • Naive Potential Field (Local Minimum Escape TBD): roslaunch global_planner potential_field.launch
    PFN

  • Local planner:

    • Dynamic Window Approach

  • Trajectory Optimization:

    • Model Predictive Path Integral Control