路径规划与运动控制算法知识库_ddr-opt算法-优快云博客

介绍：《A Review of Motion Planning Techniques for Automated Vehicles》引用次数：1734
导航堆栈参数优化：《Ros navigation tuning guide》引用次数：139
复杂环境处理策略：《Robust Navigation in an Indoor Office Environment》引用次数：727
costmap2D语义及背景解读：《Layered Costmap for Context-Sensitive Navigation》引用次数：340
二次规划，路径平滑及优化
- 《Practical search techniques in path planning for autonomous driving》引用次数：489
- 《Gradient-Informed Path Smoothing for Wheeled Mobile Robots》引用次数：37
2D安全走廊
- 《Maneuver Planning for Automatic Parking with Safe Travel Corridors: A Numerical Optimal Control Approach》引用次数：25
通过狭窄路段的路径优化方法
- 《Automatic Waypoint Generation to Improve Robot Navigation Through Narrow Spaces》引用次数：34

规划控制算法原理相关

集成绝大部分主流全局规划，局部控制算法的论文

https://github.com/zhm-real/PathPlanning

导航框架开源

全局规划算法

Python版本

集成绝大部分主流全局规划，局部控制算法的原理和可视化实现

https://github.com/zhm-real/MotionPlanning

C++版本

- 参考论文：《A Formal Basis for the heuristic Determination of Minimum Cost Paths》
- 开源地址：navigation/global_planner at noetic-devel · ros-planning/navigation · GitHub
- 学习网页：Introduction to the A* Algorithm
- 深入理解：Amit’s A* Pages

Hybrid A*

- 参考论文：《Practical search techniques in path planning for autonomous driving》
- 开源地址1：GitHub - zm0612/Hybrid_A_Star: Hybrid A Star algorithm C++ implementation
- 开源地址2：GitHub - karlkurzer/path_planner: Hybrid A* Path Planner for the KTH Research Concept Vehicle

- 参考论文：《Optimal and Efficient Path Planning for Partially-Known Environments》
- 开源地址：GitHub - LTU-RAI/Dsp: ROS package for D*+ 2D and 3D path planner, using cartographer and octomap as maps respectively.

- 参考论文：《Online Graph Pruning for Pathfinding On Grid Maps》
- 开源地址1：GitHub - SteveRabin/JPSPlusWithGoalBounding: JPS+ and Goal Bounding
- 开源地址2：GitHub - eborghi10/jps_global_planner: Jump Point Search global planner for ROS 1

RRT/RRT*

- 参考论文1：《Rapidly-Exploring Random Trees: A New Tool for Path Planning》
- 参考论文2：《Sampling-based algorithms for optimal motion planning》
- 开源地址1：GitHub - medalotte/sampling-based-planners: C++ implementation of RRT, RRT*, and Informed-RRT* using kd-tree for searching NN and NBHD nodes. Supports arbitrary dimensions and compiles as a shared library.
- 开源地址2：GitHub - srl-freiburg/srl_global_planner: The SRL_GLOBAL_PLANNER package provides an implementation of the sampling based motion planners (RRT, RGG, RRT*, Theta*-RRT) as global planner plugin for Move-base, a ROS framework

lattice

- 参考论文：
- 开源地址：GitHub - marinaKollmitz/lattice_planner: The lattice_planner package provides a move_base global planner plugin for a time-bounded A* lattice planner. The planner is designed to plan time dependent, dynamically feasible navigation paths for robots with differential drive constraints. It uses a dynamic cost map which is based on the ROS costmap representation from the costmap_2d package.

可视化对比各个全局规划器

- 开源地址：https://github.com/ksvbka/global-planner-benchmark

局部规划算法

Pure Pursuit

- 参考论文：《Regulated Pure Pursuit for Robot Path Tracking》
- 开源地址：GitHub - larics/pure_pursuit: A ROS implementation of the pure pursuit path following algorithm.

- 参考论文：《Real-time obstacle avoidance for manipulators and mobile robots》
- 开源地址1：GitHub - liuxuexun/Artificial-Potential-Field: 机器人导航--人工势场法及其改进
- 开源地址2：GitHub - eevci/APF-Path-Planner: Artificial Potential Field Path Planner

- 参考论文：《VFH/sup*: Local obstacle avoidance with look-ahead verification》
- 开源地址：GitHub - AugustoPB/vfh_local_planner: Vector Field Histogram (VFH) local planner for ROS.

- 参考论文：《The Dynamic Window Approach to Collision Avoidance》
- 开源地址：GitHub - amslabtech/dwa_planner: ROS implementation of DWA(Dynamic Window Approach) Planner

- 官方文档：teb_local_planner - ROS Wiki
- 参考文档1：TEB中的g2o问题的设置 - EpsAvlc的博客
- 参考文档2: Category: TEB算法 | 沉默杀手
- 参考论文：
- 《Trajectory modification considering dynamic constraints of autonomous robots》
- 《Efficient Trajectory Optimization using a Sparse Model》
- 《Planning of Multiple Robot Trajectories inDistinctive Topologies》
- 《Integrated online trajectory planning and optimization in distinctive
topologies》
- 《Kinodynamic Trajectory Optimization and Control for Car-Like Robots》
- 开源地址：GitHub - rst-tu-dortmund/teb_local_planner: An optimal trajectory planner considering distinctive topologies for mobile robots based on Timed-Elastic-Bands (ROS Package)

全覆盖规划算法

CCPP

- 参考论文：《Complete coverage path planning and guidance for cleaning robots》
- 开源地址1：GitHub - RicheyHuang/CoveragePlanner: Complete Coverage Path Planning Using BCD Algorithm

弓字形规划

- 参考论文：
- 开源地址1：GitHub - Greenzie/boustrophedon_planner: Coverage path planner
- 开源地址2：GitHub - peterWon/CleaningRobot: Path planning and tracking using ROS

控制算法

控制算法与最优控制

DR_CAN的个人空间-DR_CAN个人主页-哔哩哔哩视频

深蓝学院规划控制算法

- 在线网站：自动驾驶控制与规划-深蓝学院 - 专注人工智能与自动驾驶的学习平台
- 开源代码：gxf1002/ShenLanAcademy-PlanningControl: 纵向控制：PID ;横向控制：Stanely \ LQR \ MPC

- 参考论文：《Mapping Single-Integrator Dynamics to Unicycle Control Commands》
- 学习视频：https://www.youtube.com/watch?v=4Y7zG48uHRo
- 开源地址：GitHub - alirezaahmadi/AgriBot-Local-Planner: ROS Local Planner - using DWA & PID control ideas to work with move_based and navigation packages to navigate the robot through way-points to get it to its destination.

- 参考论文：
- 开源地址: ros_motion_planning/src/core/controller/lqr_controller at master · ai-winter/ros_motion_planning · GitHub
NeXTzhao/planning: 在ros_gazebo中搭建仿真环境，使用purepursuit算法对样条曲线轨迹进行了路径跟踪、使用lqr算法对生成的五次多项式轨迹进行横向路径跟踪。
GitHub - PuYuuu/toy-example-of-iLQR: iterative Linear Quadratic Regulator practice

- 参考论文：《Trajectory planning for autonomous high-speed overtaking in structured environments using robust MPC》
- 开源地址: GitHub - rst-tu-dortmund/mpc_local_planner: The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.
Geonhee-LEE/mpc_ros: Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

速度平滑器

机器人的开源控制系统，包括库和可执行文件，速度平滑处理功能

https://github.com/yujinrobot/yujin_ocs

DDR-opt

https://github.com/ZJU-FAST-Lab/DDR-opt

几何曲线

前言：为什么要使用样条曲线？为什么要使用样条曲线？_哔哩哔哩_bilibili
开源地址: ros_motion_planning/src/core/common/src/geometry at master · ai-winter/ros_motion_planning · GitHub
控制点，型值点与插值点的区别

- 学习视频：第4节_控制点、型值点和插值点_哔哩哔哩_bilibili

贝塞尔曲线

- 参考网页：贝塞尔曲线入门
- 学习视频：
贝塞尔(Bezier)曲线与B样条_哔哩哔哩_bilibili
优美的贝塞尔曲线_哔哩哔哩_bilibili
路径规划与轨迹跟踪系列算法学习_第7讲_贝塞尔曲线法_哔哩哔哩_bilibili

B样条曲线

- 参考网页：B-spline: Motivation
- 学习视频：路径规划与轨迹跟踪系列算法学习_第8讲_B样条曲线法_哔哩哔哩_bilibili

Dubins曲线

- 参考论文：《On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents》
- 学习视频：Dubins曲线_哔哩哔哩_bilibili
4-32图形搜索法-Dubins曲线_哔哩哔哩_bilibili

Reeds-Shepp曲线

- 参考论文：《Optimal paths for a car that goes both forwards and backwards》
- 学习视频：Reeds-Shepp曲线公式推导第一集：基本构型_哔哩哔哩_bilibili

五次多项式曲线
三次样条曲线

- 学习视频：第6节_基于三次样条插值的路径规划算法_哔哩哔哩_bilibili

优化算法

二次规划及轨迹优化：

GitHub - LiJiangnanBit/path_optimizer_2: Optimization-based real-time path planning for vehicles.

非线性轨迹优化：

GitHub - libai1943/CartesianPlanner: Source codes of “Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method” published in IEEE Trans. Intelligent Transportation Systems

欧式距离地图

GitHub - HKUST-Aerial-Robotics/FIESTA: Fast Incremental Euclidean Distance Fields for Online Motion Planning of Aerial Robots

各种地图

- GitHub - ANYbotics/grid_map: Universal grid map library for mobile robotic mapping

多机器人规划

- GitHub - APRIL-ZJU/CL-CBS: An Efficient Multi-Agent Path Finding Solver for Car-Like Robots

- https://github.com/snape/RVO2?tab=readme-ov-file
- GitHub - tuw-robotics/tuw_multi_robot
- https://github.com/speedzjy/mapf_ros

无人机运动规划

- GitHub - ZJU-FAST-Lab/ego-planner
- USE-jx的个人空间-USE-jx个人主页-哔哩哔哩视频

感知算法

深度相机转2D激光

- https://github.com/ros-perception/depthimage_to_laserscan

2D激光处理，数据合并

- https://github.com/iralabdisco/ira_laser_tools

scan_tools

- https://github.com/CCNYRoboticsLab/scan_tools/tree/ros1

滤波算法

卡尔曼滤波

https://kalmanfilter.net/CN/default_cn.aspx

其他

[优质机器人算法开源合集]

https://github.com/AtsushiSakai/PythonRobotics

GitHub - TianxingChen/Embodied-AI-Guide: 具身智能入门指南 Embodied-AI-Guide

https://github.com/kiloreux/awesome-robotics