https://github.com/gkouros/rsband_local_planner

A ROS move_base local planner plugin for Car-Like robots with Ackermann or 4-Wheel-Steering.
https://github.com/gkouros/rsband_local_planner

car-like-robots collision-avoidance elastic-band four-wheel-steering fuzzy-path-tracking fuzzylite move-base-plugin navigation ompl reeds-shepp-planner robotics

Last synced: about 1 month ago
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A ROS move_base local planner plugin for Car-Like robots with Ackermann or 4-Wheel-Steering.

• Host: GitHub
• URL: https://github.com/gkouros/rsband_local_planner
• Owner: gkouros
• License: bsd-3-clause
• Created: 2016-07-26T14:58:38.000Z (over 8 years ago)
• Default Branch: melodic-devel
• Last Pushed: 2019-07-09T03:44:32.000Z (over 5 years ago)
• Last Synced: 2023-10-20T20:01:14.613Z (about 1 year ago)
• Topics: car-like-robots, collision-avoidance, elastic-band, four-wheel-steering, fuzzy-path-tracking, fuzzylite, move-base-plugin, navigation, ompl, reeds-shepp-planner, robotics
• Language: C++
• Homepage:
• Size: 910 KB
• Stars: 140
• Watchers: 5
• Forks: 50
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# rsband_local_planner

The rsband_local_planner combines an **elastic band planner**, a **reeds shepp planner** and a

**fuzzy logic based path tracking controller**, to achieve reactive local planning for Car-Like

robots with Ackermann or 4-Wheel-Steering.

#### Important Dependencies

- [eband_local_planner](https://github.com/utexas-bwi/eband_local_planner): Elastic Band Algorithm implementation used to dynamically deform the global path

- [OMPL](https://github.com/ompl/ompl): Motion planning library, that contains a Reeds-Shepp State Space used in the Reeds-Shepp Path Planner

- [fuzzylite](https://github.com/fuzzylite/fuzzylite):  Fuzzy logic control library, used in the fuzzy path tracking controller

#### How to install fuzzylite

```

$ git clone [email protected]:fuzzylite/fuzzylite.git

$ cd fuzzylite/fuzzylite

$ git checkout fuzzylite-6.x

$ mkdir build && cd build

$ cmake ..

$ make

$ sudo make install

```

#### [Documentation](https://gkouros.github.io/rsband_local_planner/doc/html/index.html)

#### References

- M. Khatib et al. “Dynamic path modification for car-like

nonholonomic mobile robots”. In: Robotics and Automation, 1997.

Proceedings., 1997 IEEE International Conference on. Vol. 4. Apr. 1997,

2920–2925 vol.4. DOI: 10.1109/ROBOT.1997.606730