navigation_planner_2d

Simple robot navigation planner

Current implemented planners

Global Planner

• Dijkstra
• RRT
• RRT*

Local Planner

• DWA
• Randomized MPC

How to install

1. Download

git clone [email protected]:kohonda/navigation_planner_2d.git
cd navigation_planner_2d

2. Create venv

python3 -m venv .venv
source .venv/bin/activate

3. Install

cd navigation_planner_2d
pip3 install wheel
pip3 install -e .

How to run simulation

cd test
python3 test_navigation.py

• Green/Red circle: Robot (When red, the robot is in collision with obstacles)
• Black: known static object, given as prepared map
• Blue: unknown static/dynamic objects
• Red: LiDAR scan

How to create new map

cd script
python3 map_creator.py [config-yaml]

Example config is here