Next-Planner

This project is built based on ROS2. Based on the differential flat characteristics of the kinematics model of vehicle-like robot, the finite-state machine is used as the decision-making framework, and A*, minimum jerk and collision avoidance algorithms are integrated to realize motion planning in a known environment.

Table of Contents

• Quick Start（developing）
• Algorithms（developing）
• Setup and Config（developing）
• Run Simulations（developing）
• Updates

1. Quick Start

developing

2. Algorithms

Front-end: A star

Back-end: minimum jerk

Collision avoidance: Embodied footprint

Others: developing

3. Setup and Config

developing

4. Run Simulations

developing

5. Updates

Now the front-end and back-end algorithms have been completed, and the front-end has been embedded in the finite-state machine decision framework. Subsequently, collision avoidance algorithms and constraints of car-like robots will be introduced.