Optimized Motion Planner

The optimized motion planner is developed based on RRTX motion planning algorithm and the CHOMP trajectory optimizer, referencing RRTXstatic class in OMPL library, Julia code in RRTX paper, and CHOMP planner code in MoveIt.

Compared with RRTX algorithm, optimizer is integrated. Compared with CHOMP algorithm, cost function of dynamic obstacles is developed.

The main algorithm is in motion_planning/RRTX.cpp. It subscribes from optimized_motion_planner/obstacle_info_topic to get information of obstacles. The message type of obstacle is in msg/obstacle_info.msg. The method of getting environments update can be modified according to user's requirements.

Prerequisites

ROS: The ROS version is Noetic Ninjemys. The installation instruction is here.

Example

One example is given in src/example/start_example.cpp.

roslaunch optimized_motion_planner start_example.launch

References

• Otte M, Frazzoli E. RRTX: Asymptotically optimal single-query sampling-based motion planning with quick replanning. The International Journal of Robotics Research. 2016;35(7):797-822.
• Matthew Zucker, Nathan Ratliff, Anca Dragan, Mikhail Pivtoraiko, Matthew Klingensmith, Christopher Dellin, J. Andrew (Drew) Bagnell and Siddhartha Srinivasa Journal Article, International Journal of Robotics Research, Vol. 32, No. 9, pp. 1164-1193, Aug. 2013
• Ioan A. Șucan, Mark Moll, Lydia E. Kavraki, The Open Motion Planning Library, IEEE Robotics & Automation Magazine, vol. 19, no. 4, pp. 72-82, Dec. 2012.
• David Coleman, Ioan A. Șucan, Sachin Chitta, Nikolaus Correll, Reducing the Barrier to Entry of Complex Robotic Software: a MoveIt! Case Study, Journal of Software Engineering for Robotics, 5(1):3–16, May 2014.