DIRECT: a DIffeREntial dynamiC programming based framework for Trajectory generation

Video Links: Video1

Authors: Kun Cao, Muqing Cao, Shenghai Yuan, Lihua Xie.

Related Paper

• DIRECT: A Differential Dynamic Programming Based Framework for Trajectory Generation, Kun Cao, Muqing Cao, Shenghai Yuan, Lihua Xie, IEEE RA-L, 2022.

If you use DIRECT for your application or research, please star this repo and cite our related paper. bib

Prerequisites

Our trajectory planning module is built on top of the Teach-Repeat-Replan package, and has been tested in ROS Melodic (Ubuntu 18.04) and Kinetic (Ubuntu 16.04). For setup and installations, please follow the instructions in Teach-Repeat-Replan and make sure you can run their test scripts first.

Then, create a new workspace and clone this package:

cd ~/ && mkdir catkin_ws_direct && cd catkin_ws_direct && mkdir src && cd src
git clone https://github.com/ntu-caokun/DIRECT.git
cd cd ~/catkin_ws_direct && catkin_make

Running Simulations

To launch a simple demo:

cd ~/ && bash src/DIRECT/simulation.sh

The ddp optimizer will solve for a trajectory when you click a target point in the RVIZ display:

Acknowledgements

We use the simulation environment and utilities of Teach-Repeat-Replan.