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.
Install deb package from CASADi Releases.
sudo dpkg -i libcasadi-v3.5.5.deb
Clone repository to any catkin workspace and compile workspace
cd ~/catkin_ws/src git clone https://github.com/libai1943/CartesianPlanner.git cd .. && catkin_make
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.
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.