lijuncheng001 / multi_robot_traj_planner

An Efficient Multi-Robot Trajectory Planner for Ground Vehicles.

Multi-robot Trajectory Planner

This repository contains the code for the paper:

Efficient Trajectory Planning for Multiple Non-holonomic Mobile Robots via Prioritized Trajectory Optimization

Authors: Juncheng Li, Maopeng Ran, and Lihua Xie from Nanyang Technological University.

Accepted in IEEE Robotics and Automation Letters (RA-L). You can find the full-text paper here.

This paper proposes an efficient trajectory planning approach that generates safe, dynamically feasible and near-optimal trajectories for multiple non-holonomic mobile robots in obstacle-rich environments.

Please click in the image to see our video:

1. Software Requirements

• Ubuntu 16.04 to 20.04
• ROS Kinetic
• Octomap
• Ipopt

2. Installation instructions

(1) Install ROS Kinetic for Ubuntu 16.04

Follow ROS Installation

(2) Install Ipopt solver

Follow Ipopt Installation

(3) Install dependencies

sudo apt-get install ros-kinetic-octomap*
sudo apt-get install ros-kinetic-dynamic-edt-3d
sudo apt-get install cppad

(4) Build:

cd ~/catkin_ws/src
git clone https://github.com/LIJUNCHENG001/multi_robot_traj_planner.git
cd ../ && catkin_make
source ~/catkin_ws/devel/setup.bash

2. Run Simulations

Warehouse

roslaunch multi_robot_traj_planner prioritized_plan_warehouse.launch 

Environment with random obstacles

roslaunch multi_robot_traj_planner prioritized_plan_random_env.launch

3. Simulation Configuration

You can configure the simulation settings in the launch files.

(1) Environment: The simulation environment is selected by argument 'replay_map'. The build-in maps are located in /mapfile.

(2) Mission: The mission of the robots is selected by argument 'mission'. The build-in mission files are located in /missions.

(3) Priority Assignment: A prioritized trajectory optimization method is applied to improve the computation efficiency. If argument 'plan_random_group' is true, the priority of the robots is randomly assigned. Otherwise, a novel priority assignment method proposed in the paper is applied.

(4) Backward Movement: If argument 'backward_enable' is true, the robots are able to move backward. Otherwise, the robots can only have forward speed.

4. Acknowledgements

Our implementation is built on top of libMultiRobotPlanning and swarm_simulator. We thank Wolfgang Hönig and Jungwon Park for their great work.

multi_robot_traj_planner's Issues

How to generate map file?

There are many files as mapfile5.bt. How were they generated

[prioritized_traj_planner-3] process has died [pid 30915

Hi, thank you for your great work. I want to use your project but I met some problem.
I installed Ipopt3.12.7 and other dependencies. But when I run launch file. It had some errors.

[coupled_traj_planner-3] process has died

Hi,
Thanks for sharing the code. I install Ipopt 3.13 with ASL, HSL, and MUMPS and successfully compiles the code (except changing the header folder from coin-or to coin in /usr/local/include/, otherwise cppad would complain about missing some header files). Then I tried all the launch examples but all give me the same error. Could you help me with this issue? Thank you!

Trajectory optimization failed when the number of the robot increases from 32 to 40.

Hello, when the number of the robot increases from 32 to 40, the trajectory optimization run time is very small, and the trajectory is the initial path. The "qn" in the prioritized_traj_optimization.hpp is zero, not 40. So, the "Solve()" function is not be called. Can you help me to solve this problem. My email is [email protected]. Thank you very much.

What is seed?

Hi,
What is "seed" in the mission json file?