bobochow / motion_planning

motion planning

1. Introduction

• This project implements several motion planning algorithm,including A*,ARA*,D*,JPS,Lazy Theta*,which were developed on the base of the Course 深蓝学院 浙大高飞主讲《移动机器人运动规划》.
• The note Motion Planning 学习笔记 by bo zhou may help you understand these algorithm.

2. Quick start

1. Our software is developed and tested in Ubuntu 18.04, ROS Melodic.ROS can be installed here: ROS Installation.

2. Build on ROS

   • You can create an empty new workspace and clone this repository to your workspace:

   cd ~/your_catkin_ws/src
   git clone https://gitee.com/milab_402/motion_planning.git
   cd ..
   

   • Then, compile it.

   catkin_make
   

3. Run the Simulation.

   • Roslaunch demo

   source devel/setup.bash
   roslaunch grid_path_searcher demo.launch
   

   • Choose the "3D NAV Goal" rviz tool to set goal.

4. Change the algorithm to run

• change the arg kind in ~/your_catkin_ws/src/motion_planning/grid_path_searcher/launch/demo.launch
• kind:
  • 0 --> A*
  • 1 --> ARA*
  • 2 --> D*
  • 3 --> JPS
  • 4 --> Lazy Theta*