Robotics-Training-based-on-ZJUSSL-platform

Brief Introduction

This is the project of robotics intensive training in ZJU. All codes are tested on ZJUSSL platform.

• There are three .sln in this repository aimed at three scenes.You need to link the protobuf-3.9.1/src and robot-for-static/protobuf.
• Robot-for-static is for static obstacle avoidance. Robot-for-dynamics is for dynamic obstacle avoidance. Robot-using potential field id for following obstacle avoidance.

Installation

• C++
• protobuf-3.9.1
• cmake
• Windows
• ZJUSSL platform

Details

• UDP communication
• RRT and RRT* planner
• Discrete Speed Control and T-type Speed Control /Trajectory planning
• Increase the path nodes and constantly correct the direction of the car
• Velocity correction is introduced when migration occurs between velocity and desired path direction.
• Combined RRT and potential field to conduct dynamic obstacle avoidance.

Test

Robot-for-static is for static obstacle avoidance. Robot-for-dynamics is for dynamic obstacle avoidance. Robot-using potential field for following obstacle avoidance. Run corresponding robot.sln to test. If you want to run Robot-for-dynamics and Robot-using potential field, you just need to replace the main.cpp.

For dynamics and following obstacles, you need to run the My Program to start the demo.

Teammates

My teammates are czju-hui and mangmang9969, thanks to my teammates!