control-toolbox
teb_local_planner
| control-toolbox | teb_local_planner | |
|---|---|---|
| 1 | 1 | |
| 1,363 | 964 | |
| 5.1% | 2.6% | |
| 0.0 | 2.5 | |
| over 1 year ago | 24 days ago | |
| C++ | C++ | |
| BSD 2-clause "Simplified" License | BSD 3-clause "New" or "Revised" License |
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control-toolbox
teb_local_planner
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best algorithm [ indoor service robots ]
For the local planner/controller, which seems to be the meat of your problem here: I'd say in dynamic environments TEB is generally good (https://github.com/rst-tu-dortmund/teb_local_planner), BUT tuning it usually gets convoluted. Changing one parameter may have propagated effects throughout the algorithm. If you want to strictly follow your global path, I wouldn't really advise it.
What are some alternatives?
libmpc - libmpc++ is a C++ header-only library to solve linear and non-linear MPC
Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
turtlebot3_simulations - Simulations for TurtleBot3
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
QDriverStation - Cross-platform clone of the FRC Driver Station
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
Assemble-Them-All - [SIGGRAPH Asia 2022] Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
fields2cover_ros - A ROS interface of Fields2Cover