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.
