zhm-real/MotionPlanning
MotionPlanning
MotionPlanning is a software library designed for autonomous navigation, providing a comprehensive suite of tools for path planning, trajectory generation, and vehicle control. It enables the calculation of collision-free routes and dynamic movement paths for autonomous vehicles operating in complex, changing environments.
The project distinguishes itself by integrating hierarchical motion decomposition, which separates high-level route planning from low-level trajectory generation to manage computational complexity. It employs kinematic bicycle modeling and trailer dynamics simulation to ensure that planning algorithms account for real-world physical constraints and steering geometry.
The system covers a broad range of navigation capabilities, including grid-based state space search, cost-function-based optimization, and model predictive control. These components work together to provide feedback-based path tracking, allowing for real-time adjustments to steering and velocity commands to maintain vehicle stability and accuracy.
Features
- Autonomous Vehicle Simulators - Calculates safe and collision-free routes for autonomous vehicles navigating through complex environments.
- Model Predictive Control Loops - Uses model predictive control to optimize future control inputs over a finite time horizon for trajectory tracking.
- Control Systems - Ships a feedback control system for maintaining vehicle stability while following planned trajectories.
- Path Tracking Control - Maintains vehicle stability and course adherence using feedback controllers and predictive models.
- Path Tracking - Implements real-time feedback-based path tracking to adjust steering and velocity commands for vehicle stability.
- Vehicle Egomotion Tracking - Implements trajectory tracking to ensure vehicles follow calculated paths accurately while maintaining stability.
- Autonomous Navigation - Provides a comprehensive motion planner for calculating collision-free paths and dynamic trajectories.
- Autonomous Navigation - Provides cost-function-based optimization to evaluate and select optimal movement paths for autonomous vehicles.
- Hierarchical Motion Decomposition - Integrates hierarchical motion decomposition to manage computational complexity in dynamic driving environments.
- State Space Search Algorithms - Utilizes grid-based state space search algorithms to find collision-free paths in complex environments.
- Robotics And Autonomous Systems - Provides software frameworks integrating path generation and vehicle control for autonomous mobile platforms.
- Kinematic Path Planning - Simulates physical movement and trailer dynamics to ensure accurate path tracking and control.
- Kinematic Bicycle Models - Employs kinematic bicycle modeling to account for real-world physical constraints and steering geometry.
- Path Planning Algorithms - Provides a library of computational tools for generating safe movement routes using search and optimization.
- Trajectory Generation - Generates dynamic trajectories using search-based planning for navigation in unpredictable surroundings.
- Vehicle Dynamics Simulators - Models physical vehicle dynamics and trailer movement to ensure planning algorithms reflect real-world behavior.
Star history
How this analysis was created: This summary and feature list are AI-generated from collected project material and can contain mistakes. Stars, license and language are imported from GitHub. Inclusion does not mean that we have tested or audited this project. Check the source documentation for any feature you depend on. Learn more on our About page.
