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Dynoplan 🦖

The first version kinodynamic-motion-planning-benchmark is now deprecated.

Robots and Problem Description

Kinodynamic motion planning problem are defined in Dynobench

How to use

we provide several exectuables and libraries for different different use cases

Testing

Check the tests to learn how to use the code!

Planners

  • Trajectory Optimization (Several Algorithms on top of Differential Dynamic Programming (Croccoddyl))
  • RRT*-TO (Geometric Planner RRT* (OMPL) + Trajectory Optimzation)
  • iDb-A* (Iterative disccontinuity bounded search and Trajecgory Optimization)
  • SST* (Stable Sparse Tree (OMPL))
  • Dbrrt, AO-dbrrt and DBrrtConnect, DB-SST* (coming soon!)

Building

You can check the Github CI cmake.yml to see how to compile the project in latest ubuntu (For ubuntu 20.04, we experienced some issues with g++-9, but clang-13 is fine.)

Dependencies:

  • Boost
  • fcl (0.7)
  • yaml-cpp
  • Eigen3
  • Crocoddyl (1.8)
  • OMPL (1.6)

We need OMPL 1.6 for planners RRT + TO and SST. We recommend to install OMPL in a local directory with -DCMAKE_INSTALL_PREFIX, and use -DCMAKE_PREFIX_PATH here

Motion Primitives

You will find a small set of motion primitives for each system in dynobench. I you want more primitives, e.g. to run our planner, use wget ...

Benchmark

Results of the benchmark in TRO are in folder XX. To replicate the results, use branch XX and run the script :

Benchmark between planners

python3

Study of heuristic functions

python3

Study of strategy for trajectoy optimization with free terminal time

python3

Citing

If you use or work for academic research, please cite:

COOL TRO paper

@online{hoenigDbADiscontinuityboundedSearch2022,
  title = {Db-A*: Discontinuity-Bounded Search for Kinodynamic Mobile Robot Motion Planning},
  author = {Hoenig, Wolfgang and Ortiz-Haro, Joaquim and Toussaint, Marc},
  year = {2022},
  eprint = {2203.11108},
  eprinttype = {arxiv},
  url = {http://arxiv.org/abs/2203.11108},
  archiveprefix = {arXiv}
}