rsband_local_planner

The rsband_local_planner combines an elastic band planner, a reeds shepp planner and a fuzzy logic based path tracking controller, to achieve reactive local planning for Car-Like robots with Ackermann or 4-Wheel-Steering.

Important Dependencies

• eband_local_planner: Elastic Band Algorithm implementation used to dynamically deform the global path
• OMPL: Motion planning library, that contains a Reeds-Shepp State Space used in the Reeds-Shepp Path Planner
• fuzzylite: Fuzzy logic control library, used in the fuzzy path tracking controller

How to install fuzzylite

$ git clone git@github.com:fuzzylite/fuzzylite.git
$ cd fuzzylite/fuzzylite
$ git checkout fuzzylite-6.x
$ mkdir build && cd build
$ cmake ..
$ make
$ sudo make install

Documentation

References

• M. Khatib et al. “Dynamic path modification for car-like nonholonomic mobile robots”. In: Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on. Vol. 4. Apr. 1997, 2920–2925 vol.4. DOI: 10.1109/ROBOT.1997.606730