This is the cpp implementation of the PythonRobotics

• cmake
• opencv 3.3
• Eigen 3
• ROS (To make the repo lightweight :))

 $ mkdir build
 $ cd build
 $ cmake ../
 $ make -j 8

Find all the executable files in build/bin.

• Localization
  • Extended kalmam filter
  • Particle filter
  • Histogram filter
• Mapping
  • Gaussian grid map
• SLAM
  • FastSLAM 1.0
• Path Planning
  • Dynamic Window Approach
  • Model Predictive Trajectory Generator
  • Cubic Spline Planner
  • State Lattice Planner
  • Frenet Frame Trajectory

• green line: the groundtruth trajectory
• black line: dead reckoning
• red points: observations (e.g. GPS)
• blue line: estimated positions

Probabilistic Robotics

• green line: the groundtruth trajectory
• black line: dead reckoning
• red points: landmarks
• blue line: estimated positions

Probabilistic Robotics

• blue circle: the target point
• red circle: the robot

The dynamic window approach to collision avoidance

This part is based on the bicycle motion model.

• blue circle: the target point
• red circle: the initial point

• blue circle: the target point
• red circle: the initial point

State Space Sampling of Feasible Motions for High-Performance Mobile Robot Navigation in Complex Environments

• black line: the planned spline path
• red circle: the obstacle
• blue circle: the planned trajectory
• green circle: the real-time position of robot

Optimal Trajectory Generation for Dynamic Street Scenarios in a Frenet Frame