This repository contains the source code for the paper:
"Economical Motion Planning for On-Road Autonomous Driving with Distance-Sensitive Spatio-Temporal Resolutions"
- ROS (tested on ROS Noetic)
- CasADi
- IPOPT
- HSL
- Create a catkin workspace:
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src- Clone this repository:
git clone https://github.com/YueshuoSun/EconomicalPlanner.git- Copy the packages to the workspace:
cp -r EconomicalPlanner/Planner ~/catkin_ws/src/
cp -r EconomicalPlanner/Util/* ~/catkin_ws/src/- Build the workspace:
cd ~/catkin_ws
catkin_make- Source the workspace:
source ~/catkin_ws/devel/setup.bash- Launch the planner with RViz visualization:
roslaunch planner_node planning.launch- In RViz, use the 2D Nav Goal tool (green arrow) to set a goal pose on the track in the counter-clockwise direction. The vehicle will start moving from its current position towards the goal.
GPL-3.0
Copyright (C) 2026 Bai Li and Yueshuo Sun. This source code is associated with the following publication. If you use this code in your research or build upon it in any new publications, please cite our paper:
Yueshuo Sun, Bai Li, "Economical Motion Planning for On-Road Autonomous Driving with Distance-Sensitive Spatio-Temporal Resolutions," Machines, vol. 14, no. 2, article 200, 2026. DOI: https://doi.org/10.3390/machines14020200