Mobile Robot using Python

Environment

Python 3

pip install -r requirements.txt

Table of Contents

1. Path Planning
   • A Star
   • Dijkstra
   • Probabilistic Road Map
   • Rapidly-exploring random tree
   • Cubic Spline (path generator from point)
2. Path Tracking
   • Linear MPC
   • LQR Steering / Speed Steering
   • Move to Pose
   • Rear Wheel Feedback
   • Stanley Control

Results

Path Planning

A Star

Dijkstra

Probabilistic Road Map

Rapidly-exploring Random Tree

Rapidly-exploring Random Tree Star

Cubic Spline path generation

Eta3 Spline path generation

Eta3 Spline with velocity constraints:

Path Tracking

The Car-like Mobile Robot model

The robot kinematic model was used in this package is Car-like robot model. For more information, please consider the Car-like Mobile Robot

Linear MPC

LQR Steering

LQR Speed Steering

Move to Pose

Move to Pose with Obstacle avoiding using Dynamic Window Approach

Pure Pursuit

Rear Wheel Feedback

Stanley Control