CC-SSP planner

The following code is the CC-SSP [1] risk-aware planner. The code is based on the DWA planner, mainly the trajectory generation and trajectory scoring.

Code structure:

• ccssp_planner_ros: acts as a ROS interface by setting the configurable parameters, acquiring the local plan from dwa_planner, and publishing the local plan.
• ccssp_planner: receives the planner parameters, generates the trajectories (using base_local_planner), and acquires the local plan from scored_planner.
• scored_planner: is a modified code that computes the cost of each trajectory based on a set of cost functions, and computes the risk as well, and sends it to the ccssp class.
• ccssp: is the CC-SSP planner file; it uses Gurobi solver to solve the problem using input from scored_planner.
• CCSSPPlanner.cfg: is the configuration file, which includes the risk threshold parameter (risk_cc).

Configration:

• First select the CC-SSP planner in the move_base lauch file
• Second: change the local_planner config file: 1) CCSSPPlannerROS: instead of DWAPlannerROS:, and 2) define risk_cc and planning_h.

[1] Dual Formulation for Chance Constrained Stochastic Shortest Path with Application to Autonomous Vehicle Behavior Planning. IEEE-CDC 2021