Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method

Overview

Cartesian Planner ROS Package

C++/ROS Source Codes for "Autonomous Driving on Curvy Roads without Reliance on Frenet Frame: A Cartesian-based Trajectory Planning Method" published in IEEE Trans. Intelligent Transportation Systems by Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang.

OnRoadPlanning

Installation

  1. Request ma27 linear solver code from HSL for IPOPT, follow the installation instructions from IPOPT HSL autotools.

  2. Install deb package from CASADi Releases.

    sudo dpkg -i libcasadi-v3.5.5.deb
  3. Clone repository to any catkin workspace and compile workspace

    cd ~/catkin_ws/src
    git clone https://github.com/libai1943/CartesianPlanner.git
    cd .. && catkin_make

Example

tits_pedestrian_static_dynamic_3.mp4

Random test case with 6 pedestrians, 3 moving vehicles and 2 static vehicles.

roslaunch cartesian_planner pedestrian_test.launch

Click anywhere in Rviz window with the 2D Nav Goal Tool to start planning.

Acknowledgement

CASADi

Special thanks to Baidu Apollo for common math libraries


Copyright (C) 2022 Bai Li and Yakun Ouyang

Users must cite the following article if they use the source codes to conduct simulations in their new publications. Bai Li, Yakun Ouyang, Li Li, and Youmin Zhang, “Autonomous driving on curvy roads without reliance on Frenet frame: A Cartesian-based trajectory planning method,” IEEE Transactions on Intelligent Transportation Systems, available at https://doi.org/10.1109/TITS.2022.3145389, accepted, 2022.

Owner
Bai Li
Currently working as an associate professor in Hunan University
Bai Li
LSSY量化交易系统

LSSY量化交易系统 该项目是本人3年来研究量化慢慢积累开发的一套系统,属于早期作品慢慢修改而来,仅供学习研究,回测分析,实盘交易部分未公开

55 Oct 04, 2022
Reinforcement Learning for finance

Reinforcement Learning for Finance We apply reinforcement learning for stock trading. Fetch Data Example import utils # fetch symbols from yahoo fina

Tomoaki Fujii 159 Jan 03, 2023
Pytorch implementation of the paper "Optimization as a Model for Few-Shot Learning"

Optimization as a Model for Few-Shot Learning This repo provides a Pytorch implementation for the Optimization as a Model for Few-Shot Learning paper.

Albert Berenguel Centeno 238 Jan 04, 2023
Final report with code for KAIST Course KSE 801.

Orthogonal collocation is a method for the numerical solution of partial differential equations

Chuanbo HUA 4 Apr 06, 2022
An implementation demo of the ICLR 2021 paper Neural Attention Distillation: Erasing Backdoor Triggers from Deep Neural Networks in PyTorch.

Neural Attention Distillation This is an implementation demo of the ICLR 2021 paper Neural Attention Distillation: Erasing Backdoor Triggers from Deep

Yige-Li 84 Jan 04, 2023
Anomaly Localization in Model Gradients Under Backdoor Attacks Against Federated Learning

Federated_Learning This repo provides a federated learning framework that allows to carry out backdoor attacks under varying conditions. This is a ker

Arçelik ARGE Açık Kaynak Yazılım Organizasyonu 0 Nov 30, 2021
My personal Home Assistant configuration.

About This is my personal Home Assistant configuration. My guiding princile is to have full local control of all my devices. I intend everything to ru

Chris Turra 13 Jun 07, 2022
Implementation of Continuous Sparsification, a method for pruning and ticket search in deep networks

Continuous Sparsification Implementation of Continuous Sparsification (CS), a method based on l_0 regularization to find sparse neural networks, propo

Pedro Savarese 23 Dec 07, 2022
This is the second place solution for : UmojaHack Africa 2022: African Snake Antivenom Binding Challenge

UmojaHack-Africa-2022-African-Snake-Antivenom-Binding-Challenge This is the second place solution for : UmojaHack Africa 2022: African Snake Antivenom

Mami Mokhtar 10 Dec 03, 2022
Image-based Navigation in Real-World Environments via Multiple Mid-level Representations: Fusion Models Benchmark and Efficient Evaluation

Image-based Navigation in Real-World Environments via Multiple Mid-level Representations: Fusion Models Benchmark and Efficient Evaluation This reposi

First Person Vision @ Image Processing Laboratory - University of Catania 1 Aug 21, 2022
TensorFlowOnSpark brings TensorFlow programs to Apache Spark clusters.

TensorFlowOnSpark TensorFlowOnSpark brings scalable deep learning to Apache Hadoop and Apache Spark clusters. By combining salient features from the T

Yahoo 3.8k Jan 04, 2023
LLVIP: A Visible-infrared Paired Dataset for Low-light Vision

LLVIP: A Visible-infrared Paired Dataset for Low-light Vision Project | Arxiv | Abstract It is very challenging for various visual tasks such as image

CVSM Group - email: <a href=[email protected]"> 377 Jan 07, 2023
Predicting 10 different clothing types using Xception pre-trained model.

Predicting-Clothing-Types Predicting 10 different clothing types using Xception pre-trained model from Keras library. It is reimplemented version from

AbdAssalam Ahmad 3 Dec 29, 2021
FaceAPI: AI-powered Face Detection & Rotation Tracking, Face Description & Recognition, Age & Gender & Emotion Prediction for Browser and NodeJS using TensorFlow/JS

FaceAPI AI-powered Face Detection & Rotation Tracking, Face Description & Recognition, Age & Gender & Emotion Prediction for Browser and NodeJS using

Vladimir Mandic 395 Dec 29, 2022
Data Augmentation with Variational Autoencoders

Documentation Pyraug This library provides a way to perform Data Augmentation using Variational Autoencoders in a reliable way even in challenging con

112 Nov 30, 2022
Y. Zhang, Q. Yao, W. Dai, L. Chen. AutoSF: Searching Scoring Functions for Knowledge Graph Embedding. IEEE International Conference on Data Engineering (ICDE). 2020

AutoSF The code for our paper "AutoSF: Searching Scoring Functions for Knowledge Graph Embedding" and this paper has been accepted by ICDE2020. News:

AutoML Research 64 Dec 17, 2022
OpenMMLab Text Detection, Recognition and Understanding Toolbox

Introduction English | 简体中文 MMOCR is an open-source toolbox based on PyTorch and mmdetection for text detection, text recognition, and the correspondi

OpenMMLab 3k Jan 07, 2023
Implementation of the algorithm shown in the article "Modelo de Predicción de Éxito de Canciones Basado en Descriptores de Audio"

Success Predictor Implementation of the algorithm shown in the article "Modelo de Predicción de Éxito de Canciones Basado en Descriptores de Audio". B

Rodrigo Nazar Meier 4 Mar 17, 2022
Implemented fully documented Particle Swarm Optimization algorithm (basic model with few advanced features) using Python programming language

Implemented fully documented Particle Swarm Optimization (PSO) algorithm in Python which includes a basic model along with few advanced features such as updating inertia weight, cognitive, social lea

9 Nov 29, 2022
PyTorch implementation of DUL (Data Uncertainty Learning in Face Recognition, CVPR2020)

PyTorch implementation of DUL (Data Uncertainty Learning in Face Recognition, CVPR2020)

Mouxiao Huang 20 Nov 15, 2022