https://github.com/zju-fast-lab/ddr-opt
Universal Trajectory Optimization Framework for Differential Drive Robot Class
https://github.com/zju-fast-lab/ddr-opt
Last synced: 11 months ago
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Universal Trajectory Optimization Framework for Differential Drive Robot Class
- Host: GitHub
- URL: https://github.com/zju-fast-lab/ddr-opt
- Owner: ZJU-FAST-Lab
- License: gpl-3.0
- Created: 2024-09-06T07:22:32.000Z (almost 2 years ago)
- Default Branch: main
- Last Pushed: 2025-07-25T09:39:19.000Z (about 1 year ago)
- Last Synced: 2025-07-25T15:43:36.736Z (about 1 year ago)
- Language: C++
- Homepage:
- Size: 73 MB
- Stars: 192
- Watchers: 12
- Forks: 22
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# DDR-opt
DDR-opt is a universal Trajectory Optimization Framework for Differential Drive Robot Class.
The paper is published in T-ASE!
Please visit our project website [DDR-opt](https://zju-fast-lab.github.io/DDR-opt/).
If you find this work useful or interesting, please kindly give us a star ⭐, thanks! 😀
## Quick Start
Compiling tests passed on ubuntu **18.04, and 20.04** with ros installed.
You can just execute the following commands one by one.
### Dependence:
``` bash
sudo apt install ros-${ROS_DISTRO}-tf2-sensor-msgs # noetic or melodic
```
OSQP and OSQP-Eigen make it easier to modify parameters and are used to solve control problems under velocity and angular velocity control.
You can download them from the following two links:
- Download [osqp-v0.6.3-src.tar.gz](https://github.com/osqp/osqp/releases/tag/v0.6.3) or click [here](https://github.com/osqp/osqp/releases/download/v0.6.3/osqp-v0.6.3-src.tar.gz), and then follow the [installation instructions](https://osqp.org/docs/get_started/sources.html)
- Download [OSQP-eigen v0.8.1](https://github.com/robotology/osqp-eigen/releases/tag/v0.8.1).
```bash
cd osqp-eigen
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX:PATH=/usr/local ../
make
sudo make install
```
**NOTE:** We may have forgotten other dependencies 😟, sorry! If you could provide missing dependencies, we would greatly appreciate it.
### Build
``` bash
mkdir -p DDRopt_ws/src
cd DDRopt_ws/src
git clone git@github.com:ZJU-FAST-Lab/DDR-opt.git
cd ..
catkin build
```
### Run
You can run any of the following:
``` bash
roslaunch plan_manager planner_nmpc.launch # for robots controlled by wheel speeds
roslaunch plan_manager planner_sim_unknown.launch # for planning in unknown space
roslaunch plan_manager planner_sim.launch # for robots controlled by linear and angular velocity
```
You can use `2D Nav Goal` to set goal point.
## Update
25-07-25
1. Enhanced the 'if_directly_constrain_v_omega' feature. Users can now select between: 1) Constraining linear (v) and angular (omega) velocities independently, or 2) Constraining the product (v * omega) considering wheel speed limits.
2. Reduced the number of ROS messages in the code that do not use topic remapping.
3. Fixed the bug reported in [Issue 11](https://github.com/ZJU-FAST-Lab/DDR-opt/issues/11). Thanks to SCUTBob for the report!
## Citing
The method used in this software are described in the following paper (available on [IEEE](https://ieeexplore.ieee.org/document/10924228) and [arxiv](https://arxiv.org/abs/2409.07924v3))
```
@ARTICLE{zhang2024universaltrajectoryoptimizationframework,
author={Zhang, Mengke and Chen, Nanhe and Wang, Hu and Qiu, Jianxiong and Han, Zhichao and Ren, Qiuyu and Xu, Chao and Gao, Fei and Cao, Yanjun},
journal={IEEE Transactions on Automation Science and Engineering},
title={Universal Trajectory Optimization Framework for Differential Drive Robot Class},
year={2025},
volume={22},
number={},
pages={13030-13045},
keywords={Robots;Mobile robots;Kinematics;Trajectory optimization;Planning;Robot kinematics;Computational modeling;Dynamics;Wheels;Tracking;Motion planning;trajectory optimization;differential drive robot class;nonholonomic dynamics},
doi={10.1109/TASE.2025.3550676}}
```