Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method

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Deep Learning CartesianPlanner
Overview

Cartesian Planner ROS Package

C++/ROS Source Codes for "Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method" published in IEEE Trans. Intelligent Transportation Systems by Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang.

OnRoadPlanning

Installation

  1. Request ma27 linear solver code from HSL for IPOPT, follow the installation instructions from IPOPT HSL autotools.

  2. Install deb package from CASADi Releases.

    sudo dpkg -i libcasadi-v3.5.5.deb

  3. Clone repository to any catkin workspace and compile workspace

    cd ~/catkin_ws/src
git clone https://github.com/libai1943/CartesianPlanner.git
cd .. && catkin_make

Example

tits_pedestrian_static_dynamic_3.mp4

Random test case with 6 pedestrians, 3 moving vehicles and 2 static vehicles.

roslaunch cartesian_planner pedestrian_test.launch

Click anywhere in Rviz window with the 2D Nav Goal Tool to start planning.

Acknowledgement

CASADi

Special thanks to Baidu Apollo for common math libraries

Copyright (C) 2022 Bai Li and Yakun Ouyang

Users must cite the following article if they use the source codes to conduct simulations in their new publications. Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang, “Autonomous driving on curvy roads without reliance on Frenet frame: A Cartesian-based trajectory planning method,” IEEE Transactions on Intelligent Transportation Systems, available at https://doi.org/10.1109/TITS.2022.3145389, accepted, 2022.

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Comments
  • 一个关于代码细节的问题

    一个关于代码细节的问题

    非常感谢分享这么好的研究工作，我在阅读代码时候，发现trajectory_optimizer.cpp文件中的result = {{x - incremental[0], y - incremental[2]}, {x + incremental[1], y + incremental[3]}}的这行代码，更改为result = {{x - incremental[0]-radius, y - incremental[2]-radius}, {x + incremental[1]+radius, y + incremental[3]+radius}};是否更为合适？？感谢您的解答

    opened by guoyage 1
Owner
Bai Li
Currently working as an associate professor in Hunan University
Bai Li
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