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motion planning algorithms with demos for various state-spaces
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README.md

DEPRECATED - PLEASE USE OWL INSTEAD

The repository contains rapid prototype implementations of motion planners and their variants, version 0.1.0.

The code includes experimental features that in their current form should not make their way to a live robot. We have extracted and refined the approved methods to the repository owl.

List of algorithms: GLC, RRT*

The references are

  • A Generalized Label Correcting Method for Optimal Kinodynamic Motion Planning by Brian Paden and Emilio Frazzoli, arXiv:1607.06966
  • Sampling-based algorithms for optimal motion planning by Sertac Karaman and Emilio Frazzoli, IJRR11

The following integrators are available:

  • Euler, Midpoint
  • Runge-Kutta 4th order, and 5th order
  • exact integrator for the group SE2

The owly repository implements visualizations in 2D as showcased below. See also a video.

The separate repository owly3d implements animations and visualizations in 3D.

Examples

GLC

Rice2: 4-dimensional state space + time

rice2dentity_1510227502495

rice2dentity_1510234462100


SE2: 3-dimensional state space

Car

se2entity_1510232282788

Two-wheel drive (with Lidar simulator)

twdentity_1510751358909


Tracking of potential locations of pedestrians and vehicles

shadow_region


Pendulum Swing Up

owly_psu1


Rice1

owly_rice1


R^2

r2

owly_r2sphere


Lotka-Volterra: predator and prey, control by decay rate of predators

owly_1498564633644


surface flow in river delta

lava

against the direction of current

delta_c

current reversed

delta_s

AnyTime GLC

R^2

r2_circle_gif

RRT*

R^2

r2ani

r2

Contributors

Jan Hakenberg, Jonas Londschien, Yannik Nager