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conformal_lattice_planner's Introduction

Conformal Lattice Planner

This respository provides conformal lattice planner C++ implementations for autonomous driving tasks. The software is build upon Carla and ROS.

Related Publications

  • [IROS20] K. Sun, B. Schlotfelt, S. Chaves, P. Martin, G. Mandhyan, and V. Kumar, "Feedback Enhanced Motion Planning for Autonomous Vehicles", Robotics and Automation Letter, 2020.

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License

BSD 3-clause License

Workspace Setup

The setup of the workspace can be a bit tricky, mostly because Carla 0.9.6 uses Boost 1.69 but Ubuntu 18.04 has Boost 1.65 by default. Therefore, we have to complie almost all of the dependencies from source and link against the customized compiled libraries. All dependencies are listed as follows. The details of the setup can be found here.

Dependencies

Software Framework and Usage

This repository currently focuses on motion planning algorithms for self-driving vehicles. Therefore, we have only developed the simulation and planning software stack for now. Many sensing capabilities provided by Carla has not been interfaced. For such sensing capabilities, check Carla-ROS bridge for a python interface. More software details can be found here

conformal_lattice_planner's People

Contributors

ke-sun avatar

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