This is an introductory project about motion planning for mobile robots. The main content includes graph search-based algorithms (A*, jps), sampling-based algorithms (RRT, RRT*), path planning considering object dynamic constraints, and clsed-form and numerical way to generate trajectories.
- Ubuntu 18.04 with ros-melodic
- eigen3
- pcl-1.8
- ompl-1.6.0
- osqp and osqp-eigen
- cmake version > 3.20
git clone https://github.com/LwXxz/Robot_Planning.git
cd [the project]
catkin_make
source ./devel/setup.bash
roslaunch [node name] [launch file]
reference: https://github.com/teamo1996/Motion-plan