Code in this repo is about the decentralized car-like robotic swarm in a simulation environment. Due to the authority, we replace the Carla map with a simple environment, where the MPC controller is also removed.
Related Paper:
Decentralized Planning for Car-Like Robotic Swarm in Cluttered Environments, Changjia Ma, Zhichao Han, Tingrui Zhang, Jingping Wang, Long Xu, Chengyang Li, Chao Xu and Fei Gao, Accepted by IROS 2023.
The video link: youtube and bilibili.
All the Simulations are conducted in the Linux environment on a PC equipped with an Intel Core i7-10700 CPU and a GeForce RTX 3070 GPU.
Our software is developed and tested in Ubuntu 20.04 with ROS installed.
Attention! Map generator in this source code requires a higher version of python3, hence we do not recommend using Ubuntu 18 since the default version of python is python2.
- Create an empty new workspace and clone this repository to your workspace:
git clone https://github.com/ZJU-FAST-Lab/Car-like-Robotic-swarm.git
cd Car-like-Robotic-swarm
- Compile it.
catkin_make -DCMAKE_BUILD_TYPE=Release
Attention! When compiling, be sure to use release mode!(Just follow the above command)
source devel/setup.bash
Then, run the command:
roslaunch traj_planner swarm.launch
Wait for about 2 seconds until the global map comes out.
Then, you can click the 2D Nav Goal at anywhere in RVIZ to trigger the planning.
Here is an example:
Tip: We recommend developers to use rosmon to replace the roslaunch since rosmon is more friendly to mulit-robot systems.
Please refer to swarm formation for more details of rosmon.
The source code is released under GPLv3 license.
The trajectory representation is modified from MINCO.
For a more detailed version of car-like robot planning, please see Dftpav.
For any technical issue, please contact Changjia Ma(changjiama@zju.edu.cn).
For commercial inquiries, please contact Fei GAO (fgaoaa@zju.edu.cn).