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https://github.com/rsasaki0109/rust_robotics
Rust implementation of PythonRobotics such as EKF, DWA, Pure Pursuit, LQR.
https://github.com/rsasaki0109/rust_robotics
algorithm control localization navigation path-planning path-tracking robotics rust
Last synced: 17 days ago
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Rust implementation of PythonRobotics such as EKF, DWA, Pure Pursuit, LQR.
- Host: GitHub
- URL: https://github.com/rsasaki0109/rust_robotics
- Owner: rsasaki0109
- License: mit
- Created: 2020-06-13T10:39:07.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2024-03-22T00:07:44.000Z (11 months ago)
- Last Synced: 2025-01-14T17:42:52.830Z (18 days ago)
- Topics: algorithm, control, localization, navigation, path-planning, path-tracking, robotics, rust
- Language: Rust
- Homepage:
- Size: 521 KB
- Stars: 147
- Watchers: 7
- Forks: 8
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
Awesome Lists containing this project
- awesome-rust-list - rsasaki0109/RustRobotics
- awesome-rust-list - rsasaki0109/RustRobotics
README
RustRobotics
====
This package is a rust implementation of [PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics).
Build
```
git clone https://github.com/rsasaki0109/RustRobotics.git
cd RustRobotics
cargo build
```
Run (Example)
```
cargo run --bin ekf
```
# Table of Contents
* [Localization](#localization)
* [Extended kalman filter localization](#extended-kalman-filter-localization)
* Particle filter localization
* [SLAM](#slam)
* Iterative Closest Point
* FastSLAM 1.0
* [Path Planning](#path-planning)
* [Bezier Path](#bezier-path)
* [Cubic Spline](#cubic-spline)
* [Dynamic Window Approach](#dynamic-window-approach)
* [Model Predictive Trajectory Generator](#model-predictive-trajectory-generator)
* [Dijkstra algorithm](#dijkstra-algorithm)
* Potential Field algorithm
* State Lattice Planner
* Rapidly-Exploring Random Trees (RRT)
* [Path Tracking](#path-tracking)
* [Move to Pose](#move-to-pose)
* [Pure Pursuit](#pure-pursuit)
* [Stanley Control](#stanly-control)
* [LQR steer control](#lqr-steer-control)
* Nonlinear Model predictive control with C-GMRES
# Localization
## Extended Kalman Filter Localization
Red:GPS, Brue:Ground Truth, Green:EKF, Yellow:Dead Reckoning
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/ekf.rs)
```
cargo run --bin ekf
```
## Particle Filter Localization
# SLAM
## Iterative Closest Point
## FastSLAM 1.0
# Path Planning
## Bezier Path
Brack:Control points, Green: Path, Red: Start and Goal
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/bezier_path.rs)
```
cargo run --bin bezier_path
```
## Cubic Spline
Brack:Control points, Green: Path
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/cubic_spline_planner.rs)
```
cargo run --bin csp
```
## Dynamic Window Approach
Brack: Obstacles, Green: Trajectry, Yellow: Predected trajectry
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/dwa.rs)
```
cargo run --bin dwa
```
## Model Predictive Trajectory Generator
Green: Path
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/model_predictive_trajectory_generator.rs)
```
cargo run --bin model_predictive_trajectory_generator
```
## Dijkstra algorithm
- [src](./src/bin/dijkstra.rs)
## Potential Field algorithm
## State Lattice Planner
## Rapidly-Exploring Random Trees
# Path Tracking
## Move to Pose
Green: Path, Red: Start and Goal
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/move_to_pose.rs)
```
cargo run --bin move_to_pose
```
## Pure Pursuit
Brack: Planned path, Green: Tracked path
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/pure_pursuit.rs)
```
cargo run --bin pure_pursuit
```
## Stanly Control
Brack: Planned path, Green: Tracked path
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/stanley_controller.rs)
```
cargo run --bin stanley_controller
```
## LQR steer control
Brack: Planned path, Green: Tracked path
- [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/lqr_steer_control.rs)
```
cargo run --bin lqr_steer_control
```
## Nonlinear Model predictive control with C-GMRES