/RDA_planner

The source code of the paper "RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments"

Primary LanguagePythonMIT LicenseMIT

RDA_planner

The source code of the paper "RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments" [RA-Letter]

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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}}