Robotics-Training-based-on-ZJUSSL-platform

Brief Introduction

This is the project of robotics intensive training in ZJU. All codes are tested on ZJUSSL platform.

There are three .sln in this repository aimed at three scenes.You need to link the protobuf-3.9.1/src and robot-for-static/protobuf.
Robot-for-static is for static obstacle avoidance. Robot-for-dynamics is for dynamic obstacle avoidance. Robot-using potential field id for following obstacle avoidance.

Installation

C++
protobuf-3.9.1
cmake
Windows
ZJUSSL platform

Details

UDP communication
RRT and RRT* planner
Discrete Speed Control and T-type Speed Control /Trajectory planning
Increase the path nodes and constantly correct the direction of the car
Velocity correction is introduced when migration occurs between velocity and desired path direction.
Combined RRT and potential field to conduct dynamic obstacle avoidance.

Test

Robot-for-static is for static obstacle avoidance. Robot-for-dynamics is for dynamic obstacle avoidance. Robot-using potential field for following obstacle avoidance. Run corresponding robot.sln to test. If you want to run Robot-for-dynamics and Robot-using potential field, you just need to replace the main.cpp.

For dynamics and following obstacles, you need to run the My Program to start the demo.

Teammates