{"id":19531801,"url":"https://github.com/siyuanwu99/ro47005-pdm-final","last_synced_at":"2025-04-26T13:32:10.309Z","repository":{"id":104704314,"uuid":"428979817","full_name":"siyuanwu99/RO47005-PDM-Final","owner":"siyuanwu99","description":"A C++ implementation of PRM path planning and mini-snap trajectory optimization | RO47005 Planning and Decision Making course project","archived":false,"fork":false,"pushed_at":"2022-08-17T20:36:58.000Z","size":5045,"stargazers_count":29,"open_issues_count":1,"forks_count":6,"subscribers_count":1,"default_branch":"master","last_synced_at":"2024-01-21T15:52:38.142Z","etag":null,"topics":["motion-planning","path-planning","quadrotor","trajectory-optimization"],"latest_commit_sha":null,"homepage":"","language":"C++","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/siyuanwu99.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null}},"created_at":"2021-11-17T09:18:21.000Z","updated_at":"2024-01-21T08:05:34.000Z","dependencies_parsed_at":null,"dependency_job_id":"62c3c4bd-bcd8-49b9-9cd1-a09754b8b865","html_url":"https://github.com/siyuanwu99/RO47005-PDM-Final","commit_stats":null,"previous_names":["siyuanwu99/ro47005-pdm-final","edmundwsy/ro47005-pdm-final"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/siyuanwu99%2FRO47005-PDM-Final","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/siyuanwu99%2FRO47005-PDM-Final/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/siyuanwu99%2FRO47005-PDM-Final/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/siyuanwu99%2FRO47005-PDM-Final/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/siyuanwu99","download_url":"https://codeload.github.com/siyuanwu99/RO47005-PDM-Final/tar.gz/refs/heads/master","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":224036382,"owners_count":17245034,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["motion-planning","path-planning","quadrotor","trajectory-optimization"],"created_at":"2024-11-11T01:44:30.265Z","updated_at":"2024-11-11T01:44:31.548Z","avatar_url":"https://github.com/siyuanwu99.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"\n\u003c!-- PROJECT SHIELDS --\u003e\n\u003c!--\n*** I'm using markdown \"reference style\" links for readability.\n*** Reference links are enclosed in brackets [ ] instead of parentheses ( ).\n*** See the bottom of this document for the declaration of the reference variables\n*** for contributors-url, forks-url, etc. This is an optional, concise syntax you may use.\n*** https://www.markdownguide.org/basic-syntax/#reference-style-links\n--\u003e\n[![Contributors][contributors-shield]][contributors-url]\n[![Forks][forks-shield]][forks-url]\n[![Stargazers][stars-shield]][stars-url]\n[![Issues][issues-shield]][issues-url]\n[![MIT License][license-shield]][license-url]\n\n\n# An implementation of k-PRM path planner with corridor-based trajectory optimization\n\nThis is course project of Group 17 for RO47005 Planning and Decision Making in TU Delft. We implemented k-PRM for front-end path searching and an iterative method for back-end corridor-based trajectory optimization.\n\n![01](figs/01.png)\n\n## 1. Our contribution\n\n- We implement occupancy map generation from scratch (please check `src/planner/map_server/`).\n- We implement PRM planner and k-d tree from scratch .\n- We implement A-star method for graph search from scratch (please check `src/planner/prm_planner/`).\n- We implement classic minimum-snap trajectory optimization (both optimization solution and closed-form solution) from scratch (please check `src/planner/traj_opt/`).\n- We implement corridor-based trajectory optimization from scratch (please check `src/planner/traj_opt/`). We use [OSQP_Interface](https://github.com/ZJU-FAST-Lab/OSQP_Interface) to solve QP problem. We also use [Root-Finder](https://github.com/ZJU-FAST-Lab/Root-Finder) to find tangent point of polynomial trajectory.\n- The simulation environment (including simulator and controller) we used is cloned from [Fast-Planner](https://github.com/HKUST-Aerial-Robotics/Fast-Planner) \n- We use [DecompROS](https://github.com/sikang/DecompROS) for safe flight corridor generation directly from occupancy map.\n- We use [mockamap](https://github.com/HKUST-Aerial-Robotics/mockamap) with tiny modification to randomly generate point clouds and publish only once.\n- We compared our PRM planner with [RRTs](https://github.com/medalotte/sampling-based-planners)\n\n## 2. Build a demo\n\n**Step 1**. Install Armadillo, which is required by `uav_simulator` package.\n\n```\nsudo apt-get install libarmadillo-dev\n```\n\n**Step 2**. Install [OSQP](https://github.com/osqp/osqp), which is required by `traj_opt` package.\n\n\n**Step 3**. clone this repo\n\n```\ncd ~/\u003cyour_catkin_ws\u003e/src\ngit clone https://github.com/edmundwsy/RO47005-PDM-Final.git\ncd ..\n```\n\n**Step 4**. Build the project\n```\ncatkin_make\n```\n\n## 3. Run a simple demo\n\nLoad configuration files\n\n```\nsource devel/setup.bash\n```\n\n### 3.1 Demo in random forest environment\n\nRun following command to launch our project in rviz\n\n```\nroslaunch planner simulation.launch\n```\n\nUse 2D Nav Goal in rviz to publish a goal point\n\n![](figs/03.gif)\n\n### 3.2 Demo in 3D Maze environment\n\nRun following command to launch our project in rviz\n\n```\nroslaunch planner maze3d.launch\n```\n\n\n![](figs/06.gif)\n\n### 3.3 Compare with RRT\n\nRun following command to launch rrt_planner\n```\nroslaunch rrt_planner simulation_with_map.launch\n\n```\n\n\n## Structure\n\n```\n├── ./planner\n│   ├── ./planner/prm_planner   \u003cour implementation\u003e\n│   ├── ./planner/map_server    \u003cour implementation\u003e\n│   ├── ./planner/rrt_planner\n│   ├── ./planner/traj_opt      \u003cour implementation\u003e\n│   └── ./planner/Utils\n└── ./uav_simulator\n    ├── ./uav_simulator/fake_drone\n    ├── ./uav_simulator/local_sensing\n    ├── ./uav_simulator/map_generator\n    ├── ./uav_simulator/mockamap\n    ├── ./uav_simulator/so3_control\n    ├── ./uav_simulator/so3_quadrotor_simulator\n    └── ./uav_simulator/Utils\n```\n\n## License\n\nDistributed under the MIT License. See `LICENSE` for more information.\n\n\u003c!-- CONTACT --\u003e\n## Contact\n\nSiyuan Wu - S.Wu-14@student.tudelft.nl\nMoji Shi - M.Shi-5@student.tudelft.nl\nRanbao Deng - R.Deng@student.tudelft.nl\nLiangchen Sui - L.Sui@student.tudelft.nl\n\n\u003c!-- MARKDOWN LINKS \u0026 IMAGES --\u003e\n\u003c!-- https://www.markdownguide.org/basic-syntax/#reference-style-links --\u003e\n[contributors-shield]: https://img.shields.io/github/contributors/edmundwsy/RO47005-PDM-Final?style=for-the-badge\n[contributors-url]: https://github.com/edmundwsy/RO47005-PDM-Final/graphs/contributors\n[forks-shield]: https://img.shields.io/github/forks/edmundwsy/RO47005-PDM-Final?style=for-the-badge\n[forks-url]: https://github.com/edmundwsy/RO47005-PDM-Final/network/members\n[stars-shield]: https://img.shields.io/github/stars/edmundwsy/RO47005-PDM-Final?style=for-the-badge\n[stars-url]: https://github.com/edmundwsy/RO47005-PDM-Final/stargazers\n[issues-shield]: https://img.shields.io/github/issues/edmundwsy/RO47005-PDM-Final?style=for-the-badge\n[issues-url]: https://github.com/edmundwsy/RO47005-PDM-Final/issues\n[license-shield]: https://img.shields.io/github/license/edmundwsy/RO47005-PDM-Final?style=for-the-badge\n[license-url]: https://github.com/edmundwsy/RO47005-PDM-Final/blob/master/LICENSE\n[product-screenshot]: images/00.png\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsiyuanwu99%2Fro47005-pdm-final","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fsiyuanwu99%2Fro47005-pdm-final","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fsiyuanwu99%2Fro47005-pdm-final/lists"}