Skip to content

v1.0.0 - Multi-Algorithm Robot Navigation with Live SLAM

Choose a tag to compare

View all tags
@ruddrho ruddrho released this 20 Aug 05:37
· 13 commits to main since this release
v1.0.0
d2db706
This commit was created on GitHub.com and signed with GitHub’s verified signature.
GPG key ID: B5690EEEBB952194
Verified
Learn about vigilant mode.

v1.0.0

Initial stable release of the MATLAB multi-algorithm robot navigation and live SLAM comparison project.

Highlights

  • Shared comparison of A*, Dijkstra, RRT, RRT*, and PRM
  • Interactive shared-goal selection
  • Planning search animation and final path comparison
  • Five simultaneous autonomous robot simulations
  • Dynamic Window Approach local control and obstacle avoidance
  • Simulated 360-degree LiDAR
  • Independent live occupancy maps
  • CSV, MAT, PNG, and AVI result export
  • Fixed random seed for repeatable environment generation
  • Example planning and navigation metrics included
  • H.264 MP4 demonstration videos included

Navigation and Mapping

  • Differential-drive robot model
  • Path following and terminal goal control
  • Collision checking and safety-inflated occupancy grid
  • Odometry prediction
  • Correlative scan matching
  • Log-odds occupancy updates
  • Optional simulator-reference pose anchoring for limiting map-frame drift

Included planners

  • A*
  • Dijkstra
  • RRT
  • RRT*
  • PRM

Environment

  • MATLAB
  • No third-party packages required
  • Desktop session required for interactive figures and animations

Notes

The included performance metrics represent one example environment and one selected goal. They should not be interpreted as statistical evidence that one planning algorithm is generally superior.

Assets 2
Loading