RustRobotics

This package is a rust implementation of PythonRobotics.

Build

git clone https://github.com/rsasaki0109/RustRobotics.git
cd RustRobotics
cargo build

Run (Example)

cargo run --bin ekf

Table of Contents

• Localization
  • Extended kalman filter localization
  • Particle filter localization
• SLAM
  • Iterative Closest Point
  • FastSLAM 1.0
• Path Planning
  • Bezier Path
  • Cubic Spline
  • Dynamic Window Approach
  • Model Predictive Trajectory Generator
  • Dijkstra algorithm
  • Potential Field algorithm
  • State Lattice Planner
  • Rapidly-Exploring Random Trees (RRT)
• Path Tracking
  • Move to Pose
  • Pure Pursuit
  • Stanley Control
  • LQR steer control
  • Nonlinear Model predictive control with C-GMRES

Localization

Extended Kalman Filter Localization

Red:GPS, Brue:Ground Truth, Green:EKF, Yellow:Dead Reckoning

• src

cargo run --bin ekf

Particle Filter Localization

SLAM

Iterative Closest Point

FastSLAM 1.0

Path Planning

Bezier Path

Brack:Control points, Green: Path, Red: Start and Goal

• src

cargo run --bin bezier_path

Cubic Spline

Brack:Control points, Green: Path

• src

cargo run --bin csp

Dynamic Window Approach

Brack: Obstacles, Green: Trajectry, Yellow: Predected trajectry

• src

cargo run --bin dwa

Model Predictive Trajectory Generator

Green: Path

• src

cargo run --bin model_predictive_trajectory_generator

Dijkstra algorithm

Potential Field algorithm

State Lattice Planner

Rapidly-Exploring Random Trees

Path Tracking

Move to Pose

Green: Path, Red: Start and Goal

• src

cargo run --bin move_to_pose

Pure Pursuit

Brack: Planned path, Green: Tracked path

• src

cargo run --bin pure_pursuit

Stanly Control

Brack: Planned path, Green: Tracked path

• src

cargo run --bin stanley_control

LQR steer control

Brack: Planned path, Green: Tracked path

• src

cargo run --bin lqr_steer_control

Nonlinear Model predictive control with C-GMRES