ROS Navigation - Path Planning

ROS Path Planning (Bezier, Bezier Spline, Cubic Spline, Dubins, Line, Circle, Ellipse, Arc)

Dependencies

• Numpy (pip install numpy)
• Scipy (pip install scipy)
• Matplotlib (pip install matplotlib)
• Dubins (pip install dubins)

Execute

• python Demo.py

Goal

The goal of this project is to plan the robot path with given set of points as list. The grometry shape path will be created with yaw angles.
The resultant points and yaw angles can generate geometry_msgs/Pose Message (http://docs.ros.org/melodic/api/geometry_msgs/html/msg/Pose.html)

Result

Bezier

Bezier Spline (Piecewise Bezier)

Order : 3

Order : Number of points + 1

Cubic Spline

Line

Dubins

Ellipse

No Rotation applied

90 deg Rotated

Circle

Ellptic Arc

Circle Arc