Polygonal-gap based motion planner for both aerial and ground vehicles

Robust Fast Navigation

A high-performance, robust motion planning framework for autonomous navigation in unknown environments. This repository provides an implementation of a fast trajectory optimizer using Gurobi, designed for safe and efficient navigation.

• Occupancy Grid-Based Planning: Takes in a nav_msgs/OccupancyGrid from the /map topic.
• Odometry Input: Requires robot odometry before planning can commence.
• Gurobi Solver: Leverages Gurobi for efficient trajectory optimization.

Installation

To install this package, you will first need to install Gurobi and get a WLS Gurobi license file from the Gurobi Web License Manager. Building of the code can be done via catkin build

Dependencies

Ensure you have the following dependencies installed:

• ROS (tested on ROS Noetic)
• Gurobi optimizer
• Eigen3
• CMake
• Python3
• roscpp and rospy
• nav_msgs for occupancy grid input
• GiNaC

Running

The code can be run by running the following:

roslaunch robust_fast_navigation planner_gurobi.launch