homing_local_planner ROS Package

A simple, easy-to-use, and effective path tracking planner.

The homing_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. The underlying method called Homing Control has the objective to guide a robot along a reference path, which is a pure pursuit algorithm Implemented based on [1] as reference. And code implementation of the package has some reference to teb_local_planner.

This scheme considers a dynamic goal pose on the path located some distance ahead of the robots current pose. The robot is supposed to chase the moving goal pose (look-ahead pose) on the path. This path tracking strategy is similar to human drivers that steer a vehicle towards a dynamic lookahead point on the road, which distance depends on the vehicle speed, road curvature and visibility.

Install

cd ~/your_ros_ws/src
git clone https://github.com/zengxiaolei/homing_local_planner.git
catkin_make

Run and Demo

There's a complete demo in this package and you can launch it easily by following command:

roslaunch homing_local_planner demo.launch

Dyamic gif demo is as following.

If there's a problem with display, you can check file path: /README_img/homing_demo.gif

Note

The obstacle avoidance function is incomplete and is still under development.
The documentation for the parameters is still in preparation, but you can get an idea of what it does based on the name of them.

References

[1] Astolfi, A., Exponential Stabilization of a Wheeled Mobile Robot Via Discontinuous Control, Journal of Dynamic Systems, Measurement, and Control, vol. 121, 1999

[2] C. Rösmann, F. Hoffmann and T. Bertram: Integrated online trajectory planning and optimization in distinctive topologies, Robotics and Autonomous Systems, Vol. 88, 2017, pp. 142–153.

[3] Mobile Robot Course of The Institute of Control Theory and Systems Engineering at TU Dortmund

License

The homing_local_planner package is licensed under the BSD license. It depends on other ROS packages, which are listed in the package.xml. They are also BSD licensed.

Some third-party dependencies are included that are licensed under different terms:

Eigen, MPL2 license, http://eigen.tuxfamily.org
Boost, Boost Software License, http://www.boost.org