drive

code

• The project is a typical ROS project.
• src/ contains all source code.

usage

• Open a terminal at project root (the directory containing this file).
• roscore
• rviz
• source devel/setup.bash
• catkin_make && rosrun plan plan_node

demonstration

• Common legend

Object	Description
White circle	Agent's circumcircle
Black line on agent	Agent's orientation
Yellow path	Given path
Corresponding pink paths	Padding obstacles in configuration space
Faint green circle around agent	Sensing region
Inner pink rectangles	Physical obstacle bounding boxes
Outer pink obstacles	Configuration space obstacle bounding boxes
Green path	Output path
Red circle	Local target position of agent after path optimization

• RRT* legend

Object	Description
Cyan rectangle	Sampling region
White tree	The RRT* tree

• Visibility graph legend

Object	Description
White lines	Visibility graph

• Straight path with 2 points.

RRT*	Visibility graph

• Straight path with 3 points.

RRT*	Visibility graph

• Straigh path with 5 points.

RRT*	Visibility graph

• Perpendicular turn with 3 points.

RRT*	Visibility graph

• Perpendicular turn with 5 points.

RRT*	Visibility graph

• Obstacles.

RRT*	Visibility graph

• Obstacles over points on given path.

RRT*	Visibility graph

• Complete block.

RRT*	Visibility graph

• Small passage.

RRT*	Visibility graph

• Shielding final point.

RRT*	Visibility graph

• Arc.

RRT*	Visibility graph

• Arbitrary path (top down view).

RRT*	Visibility graph

• Arbitrary path (side view).

• RRT* planning frequency vs number of sensed obstacles.

• Visibility graph planning frequency vs number of sensed obstacles.

• RRT* planning frequency vs number of sampled nodes.