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cpp implementation of robotics algorithms including localization, mapping, SLAM, path planning and control
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readme.md

CppRobotics

This is the cpp implementation of the PythonRobotics

Requirment

  • cmake
  • opencv 3.3
  • Eigen 3
  • CppAD / IPOPT (for MPC convex optimization)
  • ROS (To make the repo lightweight :). Yet, we may still need it for 3D visualization.)

Build

 $ mkdir build
 $ cd build
 $ cmake ../
 $ make -j 8

Find all the executable files in build/bin.

Table of Contents

Localization

Extended Kalman Filter Localization

  • green line: the groundtruth trajectory
  • black line: dead reckoning
  • red points: observations (e.g. GPS)
  • blue line: estimated positions

ekf

Probabilistic Robotics

Particle Filter Localization

  • green line: the groundtruth trajectory
  • black line: dead reckoning
  • red points: landmarks
  • blue line: estimated positions

pf

Probabilistic Robotics

Path Planning

Dynamic Window Approach

  • blue circle: the target point
  • red circle: the robot

dwa

The dynamic window approach to collision avoidance

Model Predictive Trajectory Generator

This part is based on the bicycle motion model.

  • blue circle: the target point
  • red circle: the initial point

mptg

Cubic Spline Planner

csp

State Lattice Planner

  • blue circle: the target point
  • red circle: the initial point

slp

State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments

Frenet Frame Trajectory

  • black line: the planned spline path
  • red circle: the obstacle
  • blue circle: the planned trajectory
  • green circle: the real-time position of robot

frenet

Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame

Path Tracking

LQR Steering Control

  • black line: the planned spline path
  • red circle: the position under lqr control

lqr_steering

LQR Speed and Steering Control

  • black line: the planned spline path
  • red circle: the position under lqr control

lqr_full

MPC Speed and Steering Control

  • black line: the planned spline path
  • blue line: the passed path
  • yellow cross: the reference trajectory for MPC
    (To compile this part, you need to uncomment the related lines in CMakeLists.txt and install CppAD and IPOPT.)

mpc

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