project-TARIV / mpc_local_planner

A Model Predictive Control based local_planner for ROS, wrapper around project-TARIV/mpc_lib to integrate it with the ROS NavStack.

mpc_local_planner

Integrates mpc_lib with move_base

how it works

TODO

Screenshots:

Modified (bending) recursive shadow casting to get useful obstacle boundaries in circular order:

38 outline points.
'@' is the robot.
'.' is empty space.
'=' is obstacle in the map.
'#' is an outline point.
. . . . . . . . . . = = = = = = = = = .
. . . . . . . . . V = = = = = = = = = .
. . . . . . . . . U = = = = = = = = = .
. . . . . . . . . T = = = = = = = = = .
. . . . . . . . . . S R Q = = = = = = .
. . . . . . . . . . . . P O N = = = . .
. . . . . . . . . . . . . . M L = . . .
. . . . . . . . . . . . . . . K J . . .
. . . . . . . . . . . . . . . . . . . .
. . . W X . . . . . . . . . . . . . . .
. . = = Y Z . . . . @ . . . . I = = . .
. . = = = [ . . . . . . . . . H = = = .
. . = = = \ . . . . . . . . F G = = . .
. . = = = ] . . . . . . . . E = = = . .
. . . = ^ . . . . . . . . . . D = . . .
. . . . . . . ` a . . . . . . . . . . .
. . . . . . _ = b . . . . . . . . . . .
. . . . . . = = c . f A B . . . . . . .
. . . . . . . . . . e = C . . . . . . .
. . . . . . . . . . d = = . . . . . . .

Path and obstacle poly fitting: