path_planner
ruckig
| path_planner | ruckig | |
|---|---|---|
| 1 | 4 | |
| 1,449 | 597 | |
| - | - | |
| 3.2 | 8.0 | |
| 9 months ago | 12 days ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | MIT License |
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path_planner
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Path Planning Algorithm to minimize number of steps
Hello y'all! I have a RC car that can be moved to either go straight or go on a defined constant curvature path . I am trying to navigate a maze that has some obstacles in it (map is known), and I want to know if there's a path planning algorithm that can minimize the number of steps it takes (i.e. go straight or turn in a constant curvature path).. I know there is Hybrid A* algorithm( kinda like https://github.com/karlkurzer/path_planner) that can take only Straight and circular arc paths, but do y'all know if there's a cost function or something that minimizes the number of steps it takes?
ruckig
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WebAssembly: Building GUI for C++ libraries with Embind
There is an open-source project which is of personal interest for me -- a robotic motion planning library which is called Ruckig. It is a relatively small C++17 tool which does one thing and does it well -- it plans kinematically-optimal multi-degrees-of-freedom trajectories for robotics controllers. Doesn't matter what it really means. It is a software library that is supposed to be a part of another software tools or libraries. It has Python bindings (of course), and can be used from a Jupyter notebook. Well, as I found recently, it now has WebAssembly bindings too to provide a simple web GUI.
- Ruckig: Motion Generation for Robots and Machines
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Path to joint trajectories
Ruckig: https://github.com/pantor/ruckig
What are some alternatives?
ompl - The Open Motion Planning Library (OMPL)
open-quadruped - An open-source 3D-printed quadrupedal robot. Intuitive gait generation through 12-DOF Bezier Curves. Full 6-axis body pose manipulation. Custom 3DOF Leg Inverse Kinematics Model accounting for offsets.
moveit2 - :robot: MoveIt for ROS 2
emsdk - Emscripten SDK
website - WebAssembly website
ToolboxR - Discrete Time C++ Modeling Library
symforce - Fast symbolic computation, code generation, and nonlinear optimization for robotics
AIKIDO - Artificial Intelligence for Kinematics, Dynamics, and Optimization
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
crocoddyl - Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms