DDR-opt

DDR-opt is a universal Trajectory Optimization Framework for Differential Drive Robot Class.

The paper is currently reviewed by T-ASE.

Please visit our project website DDR-opt。 If you find this work useful or interesting, please kindly give us a star ⭐, thanks! 😀

Quick Start

Compiling tests passed on ubuntu 18.04, and 20.04 with ros installed. You can just execute the following commands one by one.

Dependence:

sudo apt install ros-noetic-tf2-sensor-msgs

OSQP and OSQP-Eigen make it easier to modify parameters and are used to solve control problems under velocity and angular velocity control. You can download them from the following two links:

• Download osqp-v0.6.3-src.tar.gz or click here, and then follow the installation instructions
• Download OSQP-eigen v0.8.1.

cd osqp-eigen
mkdir build
cd build
cmake -DCMAKE_INSTALL_PREFIX:PATH=/usr/local ../
make
sudo make install

NOTE: We may have forgotten other dependencies 😟, sorry! If you could provide missing dependencies, we would greatly appreciate it.

Build

mkdir -p DDRopt_ws/src
cd DDRopt_ws/src
git clone [email protected]:ZJU-FAST-Lab/DDR-opt.git
catkin build
roslaunch plan_manager planner_nmpc.launch # for robots controlled by wheel speeds
roslaunch plan_manager planner_sim_unknown.launch # for planning in unknown space
roslaunch plan_manager planner_sim.launch # for robots controlled by linear and angular velocity

You can use 2D Nav Goal to set goal point.

Citing

The method used in this software are described in the following paper (available on arxiv)

@misc{zhang2024universaltrajectoryoptimizationframework,
      title={Universal Trajectory Optimization Framework for Differential Drive Robot Class}, 
      author={Mengke Zhang and Nanhe Chen and Hu Wang and Jianxiong Qiu and Zhichao Han and Qiuyu Ren and Chao Xu and Fei Gao and Yanjun Cao},
      year={2024},
      eprint={2409.07924},
      archivePrefix={arXiv},
      primaryClass={cs.RO},
      url={https://arxiv.org/abs/2409.07924}, 
}