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    89 repositories

    • FastPlanner-2d

      Public
      将FastPlanner后端基于B样条的轨迹优化封装单独可用的C++文件，并将三维轨迹将为2维轨迹，适用于地面小车实时规划
      C
      •
      MIT License
      •13•0•0•0•Updated Nov 3, 2025Nov 3, 2025

    • Trajectory_Optimize_Method_Release

      Public
      这是一个根据TEB算法写的轨迹优化器算法，用于帮助开发者理解TEB算法，并可利用此代码进行二次开发。
      C++
      •
      MIT License
      •2•0•0•0•Updated Oct 3, 2025Oct 3, 2025

    • EgoPlanner-2d

      Public
      将EgoPlanner后端（纯净版）基于B样条的轨迹优化封装单独可用的C++文件，并将三维轨迹将为2维轨迹，适用于地面移动机器人实时局部路径规划
      C++
      •14•0•0•0•Updated Aug 6, 2025Aug 6, 2025

    • Path-Planning

      Public
      Path planning algorithms like A*, D*, Dijkstra, RRT, etc using ROS on custom robot.
      Python
      •4•0•0•0•Updated Jan 16, 2024Jan 16, 2024

    • chhRobotics_CPP

      Public
      自动驾驶规划控制常用算法c++代码实现
      C++
      •290•0•0•0•Updated Dec 28, 2023Dec 28, 2023

    • astar_planner_ros

      Public
      A global planner plugin of a grid-based A-star search algorithm for ROS navigation stack.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •4•0•0•0•Updated Nov 10, 2023Nov 10, 2023

    • path_optimizer_ilqr

      Public
      Path planning for autonomous vehicles using constrained iLQR.
      C++
      •64•0•0•0•Updated Oct 28, 2023Oct 28, 2023

    • iPlanner

      Public
      iPlanner: Imperative Path Planning. An end-to-end learning planning framework using a novel imperative learning approach
      Python
      •
      Other
      •50•0•0•0•Updated Aug 12, 2023Aug 12, 2023

    • CL-CBS

      Public
      An Efficient Multi-Agent Path Finding Solver for Car-Like Robots
      C++
      •
      MIT License
      •87•0•0•0•Updated Jul 31, 2023Jul 31, 2023

    • ESE-619-Model-Predictive-Control

      Public
      Lecture Slides, Personal Notes, Homework Solutions and Codes for ESE 619: Model Predictive Control 2023 Spring @ UPenn
      C
      •14•0•0•0•Updated Jun 12, 2023Jun 12, 2023

    • ros_motion_planning

      Public
      Motion planning and Navigation of AGV/AMR：ROS planner plugin implementation of A*(A Star), JPS(Jump Point Search), D*(D Star), LPA*, D* Lite, RRT, RRT*, RRT-Con…
      C++
      •
      GNU General Public License v3.0
      •508•0•0•0•Updated May 15, 2023May 15, 2023

    • matlab_motion_planning

      Public
      Motion planning of Autonomous Mobile Robot(AMR) based on matlab, including A*, JPS, D*, D* Lite, RRT, RRT*, ACO, DWA etc.
      MATLAB
      •
      GNU General Public License v3.0
      •90•0•0•0•Updated Apr 18, 2023Apr 18, 2023

    • planning_controlling_simulation

      Public
      a simple Apollo-based planning and controlling simulation, communicating with ROS
      C++
      •
      MIT License
      •15•0•0•0•Updated Apr 6, 2023Apr 6, 2023

    • social_force_window_planner

      Public
      Local controller based on DWA which uses Social Force Model (SFM) as predictor
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •14•0•0•0•Updated Mar 7, 2023Mar 7, 2023

    • Fields2Cover

      Public
      Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •179•0•0•0•Updated Mar 6, 2023Mar 6, 2023

    • fields2cover_ros

      Public
      A ROS interface of Fields2Cover
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •27•0•0•0•Updated Feb 24, 2023Feb 24, 2023

    • mpc_ros

      Public
      Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS
      C++
      •
      Apache License 2.0
      •185•0•0•0•Updated Feb 14, 2023Feb 14, 2023

    • tracking_pid

      Public
      PID controller following a moving carrot
      Python
      •
      Apache License 2.0
      •52•0•0•0•Updated Jan 23, 2023Jan 23, 2023

    • Heuristic_path_planners

      Public
      Collection of classes and functions to allow 2D/3D path generation with heuristic algorithms such as A*, Theta* and LazyTheta* and ROS Interfaces
      C++
      •
      MIT License
      •17•0•0•0•Updated Jan 19, 2023Jan 19, 2023

    • osqp

      Public
      The Operator Splitting QP Solver
      C++
      •
      Apache License 2.0
      •408•0•0•0•Updated Jan 4, 2023Jan 4, 2023

    • smooth_feedback

      Public
      Control and estimation on Lie groups
      C++
      •
      MIT License
      •11•0•0•0•Updated Dec 23, 2022Dec 23, 2022

    • Fast-Planner

      Public
      A Robust and Efficient Trajectory Planner for Quadrotors
      C++
      •
      GNU General Public License v3.0
      •764•0•0•0•Updated Dec 15, 2022Dec 15, 2022

    • Paper-PathFollowingSurvey

      Public
      Paper: A review of path following control strategies for autonomous robotic vehicles: theory, simulations, and experiments
      Python
      •
      MIT License
      •6•0•0•0•Updated Dec 7, 2022Dec 7, 2022

    • autonomous_exploration_development_environment

      Public
      Leveraging system development and robot deployment for ground-based autonomous navigation and exploration.
      C++
      •375•0•0•0•Updated Nov 24, 2022Nov 24, 2022

    • tuw_global_planner

      Public
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •10•0•0•0•Updated Nov 23, 2022Nov 23, 2022

    • path-following-control

      Public
      关于路径跟踪控制实现的项目
      Python
      •
      Apache License 2.0
      •24•0•0•0•Updated Nov 23, 2022Nov 23, 2022

    • neo_local_planner

      Public
      Implements a Neobotix custom move_base local planner
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •19•0•0•0•Updated Nov 22, 2022Nov 22, 2022

    • osqp-eigen

      Public
      Simple Eigen-C++ wrapper for OSQP library
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •132•0•0•0•Updated Nov 21, 2022Nov 21, 2022

    • lattice_path_planner

      Public
      A* search with motion primitives
      C++
      •10•0•0•0•Updated Nov 21, 2022Nov 21, 2022

    • path_planning

      Public
      This repository contains path planning algorithms in C++ for a grid based search.
      C++
      •
      BSD 3-Clause "New" or "Revised" License
      •101•0•0•0•Updated Nov 16, 2022Nov 16, 2022
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