自动驾驶规划控制python代码实现

参考高翔的自动驾驶与机器人中的SLAM技术的第四章，使用ROS2实现基于图优化和预积分的惯性导航系统。

基于ROS2的ORB-SLAM2，符合现代C++的写法，并且添加地图的保存与加载功能

基于似然场配准和栅格地图的2d-SLAM，并实现基于子地图的金字塔式回环闭合策略。

Source code of ICRA 2021 paper submission

使用C++对Minimum Snap算法进行了实现，实现的结果超过了论文中给出的计算速度。并且实现了三维和二维的Minimum Snap轨迹生成算法

Iterative Linear-Quadratic Games!

Path-planning for self-driving cars

Path planning for autonomous vehicles

Differential Wheeled Mobile Robot - Nonlinear Model Predictive Control based on ROS

Model Predictive Contouring Controller (MPCC) for Autonomous Racing

Optimal Trajectory Generation in Frenet Frame for Motion Planning

A trajectory generator utilizing the A-star algorithm in conjunction with a Nonlinear Model Predictive Control solver to obtain a smooth trajectory that satisfies vehicle constraints.

Path planning implemented with behavior trees

My solution for udacity path planning project. This makes the car drive > 20 miles without collision without constraint violation

C++ implementation of RRT, RRT*, and Informed-RRT* using kd-tree for searching NN and NBHD nodes. Supports arbitrary dimensions and compiles as a shared library.

Optimization-based real-time path planning for vehicles.

Autonomous Navigation of a vehicle in simulated highway driving environment (making lane changes as per surrounding traffic, avoiding collisions and minimizing jerks)

Implementation of the Frenet Optimal Planning Algorithm (with modifications) in ROS.

Path planning for autonomous vehicles using constrained iLQR.

记录：规划，决策，机器学习，编程的书籍

Fast and embedded solvers for nonlinear optimal control

Nonlinear model predictive controller (NMPC) to steer a car around a track in a simulator

Generic NMPC Controller for Setpoint Tracking in C++ using CasADi