全局路径后端平滑系列：基于apollo的分段spline平滑算法，使用osqp-eigen求解，通过matplotlib-cpp画图展示

A fast algorithm for finding an optimal path in a collection of safe boxes

Compute the exact Euclidean Distance Transform and Voronoi Diagram for 2D and 3D binary images using the GPU.

Real-time probabilistic inference-based motion planning for autonomous driving with MPPI

Vec-QMDP: A high-performance, CPU-native vectorized POMDP planner for real-time autonomous driving, leveraging SIMD acceleration and Data-Oriented Design.

Model Predictive Contouring Controller (MPCC) for Autonomous Racing

robot_path_planner_public

[ICRA2024] Stein Variational Guided Model Predictive Path Integral Control: Proposal and Experiments with Fast Maneuvering Vehicles

Generalized-depth Ray-Attention Local Planner

CUDA Accelerated Robot Library

ROS base local planner plugin which uses the tangent bug algorithm

Universal Trajectory Optimization Framework for Differential Drive Robot Class

An MPC Motion Planner in ROS/C++

Simulation of path planning for self-driving vehicles in Unity. This is also an implementation of the Hybrid A* pathfinding algorithm which is useful if you are interested in pathfinding for vehicles.

gazebo_sim

The aim of this repository is to simulate a forklift model and to train a Deep Reinforcement Learning agent to control the forklift to achieve various tasks such as autonomous navigation to a palle…

[IEEE RA-L'25] Intent Prediction-Driven Model Predictive Control for UAV Planning and Navigation in Dynamic Environments (C++/ROS)

Implement a ChatGPT-like LLM in PyTorch from scratch, step by step

iterative Linear Quadratic Regulator practice

Topology-Guided Hierarchical Planner for Nonholonomic Robots in Unknown and Complex Environments

Analyzed Baidu Apollo LQR and MPC lateral control algorithm based on dynamic vehicle model

A General-Purpose Trajectory Optimizer for Multicopters

An Efficient Trajectory Planner for Car-like Robots on Uneven Terrain

Fast (Fastest?) Minimum Snap Trajectory Generation with Analytical Gradient

We use hybrid a star and optimization-based method for trajectory planning of the autonomous vehicle parking

LRAE: Large-Region-Aware Safe and Fast Autonomous Exploration of Ground Robots for Uneven Terrains, RA-L, 2024