wangfj161 / CartesianPlanner

Source codes of “Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method” published in IEEE Trans. Intelligent Transportation Systems

Cartesian Planner ROS Package

C++/ROS Source Codes for "Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method" published in IEEE Trans. Intelligent Transportation Systems by Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang.

Installation

Building dependencies

1. Build linear solver Mumps or HSL

   1. Build mumps

      git clone https://github.com/coin-or-tools/ThirdParty-Mumps.git --depth=1
      cd ThirdParty-Mumps
      ./get.Mumps
      ./configure
      make
      sudo make install

   2. Build HSL (recommended for better performance)

      git clone https://github.com/coin-or-tools/ThirdParty-HSL.git --depth=1
      
      # Obtain a tarball with HSL source code from http://www.hsl.rl.ac.uk/ipopt/ and unpack this tarball
      gunzip coinhsl-x.y.z.tar.gz
      tar xf coinhsl-x.y.z.tar
      
      # Rename the directory `coinhsl-x.y.z` to `coinhsl`, or set a symbolic link:
      ln -s coinhsl-x.y.z coinhsl
      
      ./configure
      make
      sudo make install

2. Build and install IPOPT

   sudo apt install wget unzip gfortran liblapack-dev patch pkg-config libmetis-dev
   wget https://github.com/coin-or/Ipopt/archive/refs/heads/stable/3.14.zip
   unzip 3.14.zip && cd Ipopt-stable-3.14/
   ./configure && make -j4
   sudo make install

3. Build and install CASADi

   wget https://github.com/casadi/casadi/releases/download/3.5.5/casadi-3.5.5-1.tar.gz
   tar -zxvf casadi-3.5.5-1.tar.gz
   cd casadi-3.5.5.1
   mkdir build && cd build
   cmake .. -DWITH_IPOPT=ON -DWITH_EXAMPLES=OFF
   make -j4
   sudo make install
   sudo ldconfig

4. Clone repository to any catkin workspace and compile workspace

   cd ~/catkin_ws/src
   git clone https://github.com/libai1943/CartesianPlanner.git cartesian_planner
   cd .. && catkin_make
   source devel/setup.bash

Example

tits_pedestrian_static_dynamic_3.mp4

Random test case with 6 pedestrians, 3 moving vehicles and 2 static vehicles.

roslaunch cartesian_planner pedestrian_test.launch

Click anywhere in Rviz window with the 2D Nav Goal Tool to start planning.

Acknowledgement

CASADi

Special thanks to Baidu Apollo for common math libraries

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Copyright (C) 2022 Bai Li and Yakun Ouyang

Users must cite the following article if they use the source codes to conduct simulations in their new publications. Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang, “Autonomous driving on curvy roads without reliance on Frenet frame: A Cartesian-based trajectory planning method,” IEEE Transactions on Intelligent Transportation Systems, vol. 23, no. 9, pp. 15729 - 15741, 2022. available at https://doi.org/10.1109/TITS.2022.3145389