RDA_planner
The source code of the paper "RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments" [RA-Letter]
| PDF_IEEE | PDF_Arxiv | Video_Youtube | Video_Bilibili |
Prerequisite
- Python >= 3.8
- numpy
- cvxpy
- ir_sim==1.1.9: A python based 2d robot simulator for robotics navigation algorithm.
- GenerateCurveTool: A tool of generating the common curves from way points for the robot path planning, including dubins path, reeds shepp, etc.
Installation
git clone https://github.com/hanruihua/RDA_planner
cd RDA_planner
pip install -e .
Run examples
| Path Track (example/path_track.py) |  |
|---|---|
| Cross Corridor (example/corridor.py) |  |
| Reverse Parking (example/reverse.py) |  |
| Dynamic obstacles avoidance (example/dynamic_obs.py) |  |
 |
|---|
Contact
Han Ruihua (hanrh@connect.hku.hk)
Citation
If you find this code or paper is helpful, you can star this repository and cite our paper by the following BibTeX entry:
@ARTICLE{10036019,
author={Han, Ruihua and Wang, Shuai and Wang, Shuaijun and Zhang, Zeqing and Zhang, Qianru and Eldar, Yonina C. and Hao, Qi and Pan, Jia},
journal={IEEE Robotics and Automation Letters},
title={RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments},
year={2023},
volume={8},
number={3},
pages={1715-1722},
doi={10.1109/LRA.2023.3242138}}