Motion Planner for Self Driving Cars
An all-in-one application to visualize multiple different local path planning algorithms
A PAL Mobile Base for your advanced navigation needs
A simple planner that attempts to keep the robot close to a line between the starting and target goal. Doubles as a demo backend for Vizanti
Model Predictive Control (MPC) based waypoint tracking controller (ROS navigation stack local planner plugin)
This package provides functionality for teaching and repeating (Teach and Repeat) navigation paths using ROS 2.
Gymnasium-based social navigation simulation and benchmarking for a robot moving through pedestrian-filled environments.
A custom-built **Dynamic Window Approach (DWA) local planner** for TurtleBot3 in **ROS2 Humble**, designed to work in Gazebo simulation. It computes real-time velocity commands using laser scan and odometry data, visualizes evaluated trajectories in RViz2, and operates without relying on Nav2 plugins.
Continuous Curvature Path Generator based on 3D Waypoints
Mobile Robot Navigation using Dynamic Webs
Obstacle avoidance using data from depth camera and lidar
robot navigation, you can receive goal, then make global/local plan to the goal. include trajectory, obstacle and velocity.
Custom ROS2 DWA local planner with real-time trajectory sampling, obstacle avoidance, recovery logic, and RViz visualization — built from scratch without Nav2, for semi-structured real-world environments.
Nav2-native MPPI local controller for ROS 2 Jazzy: online local-minima detection-and-escape + a dynamic-obstacle CBF safety filter, coordinated so escape maneuvers stay certified-safe. Ships the preprint, a 1,200-trial randomized 2D benchmark with raw artifacts, and a Gazebo U-trap testbed.
Model Predictive Control Tracker for TurtleBot
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