neu-zjx / path_planning_2d

stochastic 2-D motion planning with a POMDP framework

PATH_PLANNING_2D

The PATH_PLANNING_2D package implements the QV-Tree Search method proposed in "Stochastic 2-D Motion Planning with a POMDP Framework". The algorithm solves the stochastic 2-D motion planning problem considering noise from both the robot dynamics and sensor measurements.

A simulator is included to demonstrate the behavior of the proposed motion planner. The package also contains implementation of methods like A* and MDP for comparison purposes.

The software is tested on Ubuntu 16.04 with ROS Kinetic.

Video: https://youtu.be/_T7Rt0iTyJQ
Paper Draft: https://arxiv.org/abs/1810.00204

License

GNU General Public License v3.0

Dependencies

Most of the dependencies are standard including Eigen, OpenCV, and Boost. The standard shipment from Ubuntu 16.04 and ROS Kinetic works fine. One of the special requirement is CUDA 8.0 for acceleration of compution. The package also depends on JPS3d for the A* implementation.

Compling

The software is a standard catkin package. Make sure the package is on ROS_PACKAGE_PATH after cloning the package to your workspace. And the normal procedure for compiling a catkin package should work.

cd your_work_space
catkin_make --pkg path_planning_2d --cmake-args -DCMAKE_BUILD_TYPE=Release