CppRobotics
This is the cpp implementation of the PythonRobotics
Requirment
- cmake
- opencv 3.3
- Eigen 3
- CppAD / IPOPT (for MPC convex optimization)
ROS(To make the repo lightweight :))
Build
$ mkdir build
$ cd build
$ cmake ../
$ make -j 8
Find all the executable files in build/bin.
Table of Contents
- Localization
- Extended kalmam filter
- Particle filter
- Histogram filter
- Mapping
- Gaussian grid map
- SLAM
- FastSLAM 1.0
- Path Planning
- Path Tracking
Localization
Extended Kalman Filter Localization
- green line: the groundtruth trajectory
- black line: dead reckoning
- red points: observations (e.g. GPS)
- blue line: estimated positions
Particle Filter Localization
- green line: the groundtruth trajectory
- black line: dead reckoning
- red points: landmarks
- blue line: estimated positions
Path Planning
Dynamic Window Approach
- blue circle: the target point
- red circle: the robot
The dynamic window approach to collision avoidance
Model Predictive Trajectory Generator
This part is based on the bicycle motion model.
- blue circle: the target point
- red circle: the initial point
Cubic Spline Planner
State Lattice Planner
- blue circle: the target point
- red circle: the initial point
Frenet Frame Trajectory
- black line: the planned spline path
- red circle: the obstacle
- blue circle: the planned trajectory
- green circle: the real-time position of robot
Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame
Path Tracking
LQR Steering Control
- black line: the planned spline path
- red circle: the position under lqr control
LQR Speed and Steering Control
- black line: the planned spline path
- red circle: the position under lqr control
MPC Speed and Steering Control
- black line: the planned spline path
- blue line: the passed path
- yellow cross: the reference trajectory for MPC
(To compile this part, you need to uncomment the related lines in CMakeLists.txt and install CppAD and IPOPT.)
