li9616 / RDA_planner

The source code of the paper "RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments"

RDA_planner

The source code of the paper "RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments" [RA-Letter]

| PDF_IEEE | PDF_Arxiv | Video_Youtube | Video_Bilibili |

Prerequisite

• Python >= 3.8
• numpy
• cvxpy
• ir_sim: A python based 2d robot simulator for robotics navigation algorithm.
• GenerateCurveTool: A tool of generating the common curves from way points for the robot path planning, including dubins path, reeds shepp, etc.

Installation

git clone https://github.com/hanruihua/RDA_planner
cd RDA_planner
pip install -e .  

Run examples

• Path Track (example/path_track.py)

• Cross Corridor (example/corridor.py)

• Reverse Parking (example/reverse.py)

Contact

Han Ruihua ([e-mail])

Citation

If you find this code or paper is helpful, you can star this repository and cite our paper by the following BibTeX entry:

@ARTICLE{10036019,
  author={Han, Ruihua and Wang, Shuai and Wang, Shuaijun and Zhang, Zeqing and Zhang, Qianru and Eldar, Yonina C. and Hao, Qi and Pan, Jia},
  journal={IEEE Robotics and Automation Letters}, 
  title={RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments}, 
  year={2023},
  volume={},
  number={},
  pages={1-8},
  doi={10.1109/LRA.2023.3242138}}