maxt-yh/motion_planning

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

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)

• The map package: roslaunch map viz_map.launch

  • Probabilistic Roadmap:
  
  • Tunable-resolution Grid Map
  

• The global_planner package:

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

• Trajectory Optimization:

  • Model Predictive Path Integral Control on a parallel parking task: roslaunch control mppi_pentagon.launch parallel:=True
  
  • The associated states and controls for the above demo:
  

  NOTE: To launch waypoint following method, simply don't include the parallel argument.

  In a separate terminal, do:

  rosservice call /set_pose "x: 0.0 y: 0.0 theta: 0.0"

  To start the node.