https://github.com/zju-fast-lab/dftpav
A lightweight differential flatness-based trajectory planner for car-like robots
https://github.com/zju-fast-lab/dftpav
Last synced: over 1 year ago
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A lightweight differential flatness-based trajectory planner for car-like robots
- Host: GitHub
- URL: https://github.com/zju-fast-lab/dftpav
- Owner: ZJU-FAST-Lab
- License: gpl-3.0
- Created: 2022-07-21T06:34:02.000Z (about 4 years ago)
- Default Branch: main
- Last Pushed: 2023-06-21T11:40:14.000Z (about 3 years ago)
- Last Synced: 2025-03-29T20:09:51.708Z (over 1 year ago)
- Language: C++
- Size: 84.4 MB
- Stars: 382
- Watchers: 23
- Forks: 89
- Open Issues: 9
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Dftpav
A lightweight **Spatial-Temporal** trajectory planner for car-like robots。
## 0. Overview
**Related Paper**:
Please cite the paper below if this repo helps you.
- [An Efficient Spatial-Temporal Trajectory Planner for Autonomous Vehicles in Unstructured Environments](https://arxiv.org/abs/2208.13160), Zhichao Han, Yuwei Wu, Tong Li, Lu Zhang, Liuao Pei, Long Xu, Chengyang Li, Changjia Ma, Chao Xu, Shaojie Shen, Fei Gao.
## 1. Setup
All the tests are conducted in the Linux environment on a computer equipped with an Intel Core i7-10700 CPU and a GeForce RTX 2060 GPU.
Moreover, Our software is developed and tested in Ubuntu 18.04, 20.04 with ROS installed.
ROS can be installed here: [ROS Installation](http://wiki.ros.org/ROS/Installation).
## 2. Build on ROS
1. Install the dependence.
```
sudo apt-get install libgoogle-glog-dev libdw-dev libopenblas-dev gfortran
```
We use [Protocol Buffers](https://developers.google.com/protocol-buffers/) for parameter configuration. For the installation guide, please refer to this [link](https://github.com/protocolbuffers/protobuf/blob/master/src/README.md).
2. Create an empty new workspace and clone this repository to your workspace:
```
cd ~/your_catkin_ws/src
git clone https://github.com/ZJU-FAST-Lab/Dftpav
cd ..
```
3. Compile it.
```
catkin_make -DCMAKE_BUILD_TYPE=Release
```
## 3. Run
Open a new terminal window, `cd ` to `~/your_catkin_ws/` and type:
```
source devel/setup.bash
```
Then, run the script:
```
./run.sh
```
Then, you can use the **2D Nav Goal** in **RVIZ** to trigger the planning.
Here is an example:
## 4. Licence
The source code is released under [GPLv3](http://www.gnu.org/licenses/) license.
## 5. Maintaince
For any technical issue, please contact Zhichao HAN (zhichaohan@zju.edu.cn).
For commercial inquiries, please contact [Fei GAO](https://ustfei.com/) (fgaoaa@zju.edu.cn).