WX-James / liom_local_planner

ROS motion planning package based on LIOM (Light-weighted Iterative Optimization Method) approach

liom_local_planner ROS Package

(🚧 WIP) A ROS package for motion planning for car-like robots, providing a fast and reliable local planner for autonomous vehicles. The package is designed for use in robotics applications, with a focus on navigation and control for ground vehicles.

Citing

If you use liom_local_planner in your work, please consider citing our related papers to acknowledge the research and efforts behind this package:

• B. Li et al., "Optimization-Based Trajectory Planning for Autonomous Parking With Irregularly Placed Obstacles: A Lightweight Iterative Framework," in IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 8, pp. 11970-11981, Aug. 2022, doi: 10.1109/TITS.2021.3109011.
• B. Li, Y. Ouyang, L. Li and Y. Zhang, "Autonomous Driving on Curvy Roads Without Reliance on Frenet Frame: A Cartesian-Based Trajectory Planning Method," in IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 9, pp. 15729-15741, Sept. 2022, doi: 10.1109/TITS.2022.3145389.

Features

• Fast and efficient motion planning for car-like robots
• Robust and reliable operation in a variety of scenarios
• Easy integration into existing robotic systems

Requirements

• ROS Kinetic or later
• Ubuntu 16.04 or later

Installation

1. Create a new workspace:

$ mkdir -p ~/liom_ws/src
$ cd ~/liom_ws/src
$ catkin_init_workspace

2. Clone the package into the workspace:

$ git clone https://github.com/yakunouyang/liom_local_planner.git

3. Install dependencies:

rosdep install liom_local_planner

3. Build the workspace:

$ cd ~/liom_ws
$ catkin_make

Usage

1. Launch the simulation based on Stage Simulator:

   $ roslaunch liom_local_planner demo_stage.launch

   Publish a goal pose to the /move_base_simple/goal topic.

2. Launch test node:

   roslaunch liom_local_planner demo_test.launch

   feel free to drag the interactive obstacles.

Documentation

For more information on using the liom_local_planner package, please refer to the official documentation.

Contributing

We welcome contributions to the liom_local_planner package! If you are interested in contributing, please see the contributing guide for more information.

License

The liom_local_planner package is released under the BSD 3-Clause license. See LICENSE for more information.