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navigation_planner_2d

Simple robot navigation planner

Current implemented planners

Global Planner

  • Dijkstra
  • RRT
  • RRT*

Local Planner

  • DWA
  • Randomized MPC

How to install

  1. Download
git clone [email protected]:kohonda/navigation_planner_2d.git
cd navigation_planner_2d
  1. Create venv
python3 -m venv .venv
source .venv/bin/activate
  1. Install
cd navigation_planner_2d
pip3 install wheel
pip3 install -e .

How to run simulation

cd test
python3 test_navigation.py
  • Green/Red circle: Robot (When red, the robot is in collision with obstacles)
  • Black: known static object, given as prepared map
  • Blue: unknown static/dynamic objects
  • Red: LiDAR scan

How to create new map

cd script
python3 map_creator.py [config-yaml]

Example config is here