path_planner
symforce
| path_planner | symforce | |
|---|---|---|
| 1 | 15 | |
| 1,449 | 1,354 | |
| - | 1.1% | |
| 3.2 | 8.9 | |
| 9 months ago | 2 days ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | Apache License 2.0 |
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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?
symforce
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SymPy: Symbolic Mathematics in Python
You might find this library interesting: https://github.com/symforce-org/symforce
- SymForce is a fast symbolic computation and code generation library for robotics
- Fast Symbolic Computation for Robotics
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Literature request: Lie groups and algebra
Personally I followed along the text implementing things using symforce (https://symforce.org/) instead of Sophus.
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Jacobian Matrix possible on arduino?
It isn't related to Arduino, and may be overkill for this application, but Symforce has some cool tools for implementing the 1st option.
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What optimization libraries are you using?
I've been paying around with Symforce and the more I get into it the more excited I get about it. It lets you prototype in high level symbolic math in Python, then once you get things working it autogenerates super optimized C++ for you. And it has the built in tangent space stuff for factor graphs like GTSAM
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Skydio Researchers Open-Source ‘SymForce’: A Fast Symbolic Computation And Code Generation Library For Robotics Applications Like Computer Vision, etc.
Continue reading | Checkout the paper and github
- Fast symbolic computation, code generation, and nonlinear optimization for robotics
What are some alternatives?
ruckig - Motion Generation for Robots and Machines. Real-time. Jerk-constrained. Time-optimal.
casadi - CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
ompl - The Open Motion Planning Library (OMPL)
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
Colosseum - Open source simulator for autonomous robotics built on Unreal Engine with support for Unity
ANMS-Codes - Efficient adaptive non-maximal suppression algorithms for homogeneous spatial keypoint distribution
openvslam - OpenVSLAM: A Versatile Visual SLAM Framework
xflrpy - xflrpy is a python enabled version of xflr5 for scripting and design optimization.
wyvern - Automatic conversion of call by value into call by need in the LLVM IR.
slambook-en - The English version of 14 lectures on visual SLAM.
vpsolver - Arc-flow Vector Packing Solver (VPSolver)