motion planning algorithms with demos for various state-spaces
Library for motion planning in Java, version 0.5.9
The library was developed with the following objectives in mind
Motion planning |
Obstacle anticipation |
Rice2: 4-dimensional state space + time
SE2: 3-dimensional state space
Car |
Two-wheel drive (with Lidar simulator) |
Simulation: autonomous gokart or car
Gokart |
Car |
R^2
R^2 |
Dubins |
Clothoid |
Specify repository
and dependency
of the owl library in the pom.xml
file of your maven project:
<repositories>
<repository>
<id>owl-mvn-repo</id>
<url>https://raw.github.com/idsc-frazzoli/owl/mvn-repo/</url>
<snapshots>
<enabled>true</enabled>
<updatePolicy>always</updatePolicy>
</snapshots>
</repository>
</repositories>
<dependencies>
<dependency>
<groupId>ch.ethz.idsc</groupId>
<artifactId>owl</artifactId>
<version>0.5.9</version>
</dependency>
</dependencies>
Jan Hakenberg, Jonas Londschien, Yannik Nager, André Stoll, Joel Gaechter
The code in the repository operates a heavy and fast robot that may endanger living creatures. We follow best practices and coding standards to protect from avoidable errors.
Library for non-linear geometry computation in Java
The library was developed with the following objectives in mind
Curve Subdivision |
Smoothing |
Wachspress |
Dubins path curvature |
R^n
, special Euclidean group SE(2)
, hyperbolic half-plane H2
, n-dimensional sphere S^n
, ...GeodesicBSplineFunction
, ...GeodesicCenterFilter
B-Spline curves in SE(2)
produced by DeBoor Algorithm or curve subdivision produce curves in the planar subspace R^2
with appealing curvature.
The sequence of localization estimates of a mobile robot often contains noise.
Instead of using a complicated extended Kalman filter, geodesic averages based on conventional window functions denoise the uniformly sampled signal of poses in SE(2)
.
The pose of mobile robots is typically recorded at high frequencies. The trajectory can be faithfully reconstructed from a fraction of the samples.
A geodesic average is the generalization of an affine combination from the Euclidean space to a non-linear space. A geodesic average consists of a nested binary averages. Generally, an affine combination does not have a unique expression as a geodesic average. Instead, several geodesic averages reduce to the same affine combination when applied in Euclidean space.
Jan Hakenberg, Oliver Brinkmann, Joel Gächter