Belief Space Motion Planning Using iLQG
Switch branches/tags
Nothing to show
Clone or download
Fetching latest commit…
Cannot retrieve the latest commit at this time.
Permalink
Failed to load latest commit information.
BeliefDynamics
CollisionChecker
CostFunction
Maps
MotionModels
ObservationModels
Planner
Utils
iLQG
.gitignore
README.md
main.m
plan_2dpointrobot.m
runscript.m

README.md

bsp-ilqg

Belief Space Motion Planning Using iLQG. Builds on top of iLQG Matlab implementation by Yuval Tassa and the paper "Motion Planning under Uncertainty using Iterative Local Optimization in Belief Space", Van den berg et al., International Journal of Robotics Research, 2012

How To

There are demo files provided in the main directory that you can straight away run and see planning scenarios. Inside each of these demo files you can change the map to be loaded (i.e., the planning scenario) and you can change the start and goal state.

A modular appraoch has been taken to implement this code, all motion models for robot and observation models for sensing are based on base classes for each, enabling you to write your own models. Simple collision checking for a circular (disk) like robot is provided along with a bunch of 2D maps. To implement your own planning scenario, write your own motion model and observation model. Then copy one of the demo files and in the part of code where the models are initialized replace with your own models.

License

Copyright (c) 2017, Saurav Agarwal All rights reserved.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

* Redistributions of source code must retain the above copyright
  notice, this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright
  notice, this list of conditions and the following disclaimer in
  the documentation and/or other materials provided with the distribution
* Neither the name of the Texas A&M University nor the names
  of its contributors may be used to endorse or promote products derived
  from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.