CppRobotics

This is the cpp implementation of the PythonRobotics

Requirment

• cmake
• opencv 3.3
• Eigen 3
• CppAD / IPOPT (for MPC convex optimization) install tips
• ~~ROS~~ (~~To make the repo lightweight :)~~. Yet, we may still need it for 3D visualization.)

Build

 $ mkdir build
 $ cd build
 $ cmake ../
 $ make -j 8

Find all the executable files in build/bin.

Table of Contents

• Localization
  • Extended kalmam filter
  • Particle filter
  • Histogram filter
• Mapping
  • Gaussian grid map
• SLAM
  • FastSLAM 1.0
• Path Planning
  • Dijkstra
  • A Star
  • RRT
  • Dynamic Window Approach
  • Model Predictive Trajectory Generator
  • Cubic Spline Planner
  • State Lattice Planner
  • Frenet Frame Trajectory
• Path Tracking Control
  • LQR Sterring Control
  • LQR Speed and Steering Control
  • Model Predictive Speed and Steering Control
• Aerial Navigation
  • Drone 3D Trajectory Following
  • Rocket Powered Landing

Localization

Extended Kalman Filter Localization

• green line: the groundtruth trajectory
• black line: dead reckoning
• red points: observations (e.g. GPS)
• blue line: estimated positions

<!--  --> <img src="https://ram-lab.com/file/tailei/gif/ekf.gif" alt="ekf" width="400"/>

Probabilistic Robotics

Particle Filter Localization

• green line: the groundtruth trajectory
• black line: dead reckoning
• red points: landmarks
• blue line: estimated positions

<!--  --> <img src="https://ram-lab.com/file/tailei/gif/pf.gif" alt="pf" width="400"/>

Probabilistic Robotics

Path Planning

Dijkstra

• blue point: the start point
• red point: the goal point <img src="https://ram-lab.com/file/tailei/gif/dijkstra.gif" alt="dijkstra" width="400"/>

A star

• blue point: the start point
• red point: the goal point <img src="https://ram-lab.com/file/tailei/gif/a_star.gif" alt="a_star" width="400"/>

RRT

• red circle: the start point
• blue circle: the goal point
• black circle: obstacles <img src="https://ram-lab.com/file/tailei/gif/rrt.gif" alt="rrt" width="400"/>

Dynamic Window Approach

• blue circle: the target point
• red circle: the robot

<!--  --> <img src="https://ram-lab.com/file/tailei/gif/dwa.gif" alt="dwa" width="400"/>

The dynamic window approach to collision avoidance

Model Predictive Trajectory Generator

This part is based on the bicycle motion model.

• blue circle: the target point
• red circle: the initial point

<!--  --> <img src="https://ram-lab.com/file/tailei/gif/mptg.gif" alt="mptg" width="400"/>

Cubic Spline Planner

<!--  --> <img src="https://ram-lab.com/file/tailei/gif/csp.png" alt="csp" width="400"/>

State Lattice Planner

• blue circle: the target point
• red circle: the initial point

<!--  --> <img src="https://ram-lab.com/file/tailei/gif/slp.gif" alt="slp" width="400"/>

State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments

Frenet Frame Trajectory

• black line: the planned spline path
• red circle: the obstacle
• blue circle: the planned trajectory
• green circle: the real-time position of robot

<img src="https://ram-lab.com/file/tailei/gif/frenet.gif" alt="frenet" width="400"/>

Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame

Path Tracking Control

LQR Steering Control

• black line: the planned spline path
• red circle: the position under lqr control

<img src="https://ram-lab.com/file/tailei/gif/lqr_steering.gif" alt="lqr_steering" width="400"/>

LQR Speed and Steering Control

• black line: the planned spline path
• red circle: the position under lqr control

<img src="https://ram-lab.com/file/tailei/gif/lqr_full.gif" alt="lqr_full" width="400"/>

MPC Speed and Steering Control

• black line: the planned spline path
• blue line: the passed path
• yellow cross: the reference trajectory for MPC
  (To compile this part, you need to uncomment the related lines in CMakeLists.txt and install CppAD and IPOPT.)

<img src="https://ram-lab.com/file/tailei/gif/mpc.gif" alt="mpc" width="400"/>