teb_local_planner
control-toolbox
| teb_local_planner | control-toolbox | |
|---|---|---|
| 1 | 1 | |
| 969 | 1,363 | |
| 3.1% | 5.1% | |
| 2.1 | 0.0 | |
| about 1 month ago | over 1 year ago | |
| C++ | C++ | |
| BSD 3-clause "New" or "Revised" License | BSD 2-clause "Simplified" License |
Stars - the number of stars that a project has on GitHub. Growth - month over month growth in stars.
Activity is a relative number indicating how actively a project is being developed. Recent commits have higher weight than older ones.
For example, an activity of 9.0 indicates that a project is amongst the top 10% of the most actively developed projects that we are tracking.
teb_local_planner
-
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.
control-toolbox
What are some alternatives?
Fields2Cover - Robust and efficient coverage paths for autonomous agricultural vehicles. A modular and extensible Coverage Path Planning library
libmpc - libmpc++ is a C++ header-only library to solve linear and non-linear MPC
turtlebot3_simulations - Simulations for TurtleBot3
pinocchio - A fast and flexible implementation of Rigid Body Dynamics algorithms and their analytical derivatives
navigation - ROS Navigation stack. Code for finding where the robot is and how it can get somewhere else.
Robotics Library (RL) - The Robotics Library (RL) is a self-contained C++ library for rigid body kinematics and dynamics, motion planning, and control.
towr - A light-weight, Eigen-based C++ library for trajectory optimization for legged robots.
QDriverStation - Cross-platform clone of the FRC Driver Station
Assemble-Them-All - [SIGGRAPH Asia 2022] Assemble Them All: Physics-Based Planning for Generalizable Assembly by Disassembly
ifopt - An Eigen-based, light-weight C++ Interface to Nonlinear Programming Solvers (Ipopt, Snopt)
fields2cover_ros - A ROS interface of Fields2Cover
CppRobotics - Header-only C++ library for robotics, control, and path planning algorithms. Work in progress, contributions are welcome!