MotionPlanning

Overview

This repository implemented some common motion planners used on autonomous vehicles, including

• Hybrid A* Planner
• Frenet Optimal Trajectory
• Hierarchical Optimization-Based Collision Avoidance (H-OBCA) (Incomplete)

Also, this repository provides some controllers for path tracking, including

• Pure Pursuit + PID
• Rear-Wheel Feedback + PID
• Front-Wheel Feedback / Stanley + PID
• LQR + PID
• Linear MPC

Requirement

• Python 3.6 or above
• SciPy
• cvxpy
• Reeds-Shepp Curves
• pycubicspline

Vehicle models

This repository uses two models: simple car model and car pulling trailers model.

Hybrid A* Planner

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/HybridAstarPlanner/gif/hybrid%20Astar-1.gif" alt="1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/HybridAstarPlanner/gif/hybrid%20Astar-2.gif" alt="2" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/HybridAstarPlanner/gif/hybrid%20Astar-t1.gif" alt="11" width="400"/></a></td> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/HybridAstarPlanner/gif/hybrid%20Astar-t5.gif" alt="12" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/HybridAstarPlanner/gif/hybrid%20Astar-t3.gif" alt="13" width="400"/></a></td> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/HybridAstarPlanner/gif/hybrid%20Astar-t2.gif" alt="14" width="400"/></a></td> </tr> </table> </div>

State Lattice Planner

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/LatticePlanner/gif/Crusing.gif" alt="1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/LatticePlanner/gif/StoppingMode.gif" alt="2" width="400"/></a></td> </tr> </table> </div>

Controllers

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/Control/gif/purepursuit1.gif" alt="1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/Control/gif/RWF1.gif" alt="2" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/Control/gif/stanley.gif" alt="1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/Control/gif/MPC.gif" alt="2" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/Control/gif/LQR_Kinematic.gif" alt="1" width="400"/></a></td> <td><img src="https://github.com/zhm-real/MotionPlanning/blob/master/Control/gif/LQR_Dynamics.gif" alt="2" width="400"/></a></td> </tr> </table> </div>

Paper

Planning

• Basic Path Planning Algorithms: PathPlanning
• Baidu Apollo Planning module: Recommended Materials
• Survey of Planning and Control algos: A Survey of Motion Planning and Control Techniques for Self-driving Urban Vehicles
• Hybrid A* Planner: Practical Search Techniques in Path Planning for Autonomous Driving
• Frenet Optimal Trajectory: Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame

Control

• Baidu Apollo Control module: Recommended Materials
• Pure Pursuit: Implementation of the Pure Pursuit Path Tracking Algorithm
• Rear-Wheel Feedback: Automatic Steering Methods for Autonomous Automobile Path Tracking
• Front-Wheel Feedback / Stanley: Stanley: The Robot that Won the DARPA Grand Challenge
• LQR: ApolloAuto/apollo: An open autonomous driving platform
• Linear MPC: MPC-Based Approach to Active Steering for Autonomous Vehicle Systems

Useful Material

• HybridAStarTrailer (Julia): by AtsushiSakai
• Hybrid Path Planner (C++): by KTH Research Concept Vehicle