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Motion-Planning-for-Mobile-Robots

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# Motion-Planning-for-Mobile-Robots

Fan Yang 
2020.06-2020.08

Language: MATLAB, C++, Python

Themes: A*, RRT*, Optimal Boundary Value Problem, Minimum Snap Trajectory Generation, Corridor-based and Bezier-based Minimum Snap Trajectory Optimization, MDP and Real Time Dynamic programming, MPC

A*

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw2/MATLAB/截图3.png" width="400"   />

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw2/ROS/showPath.png" alt="showPath" width="600" />

RRT*

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw3/MATLAB/RRT结果截图.png" alt="RRT结果截图" width="400"  />

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw3/ROS/showPath.png" alt="showPath" width="600"  />

Optimal Boundary Value Problem

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw4/ROS结果截图.png" width="600"  />

Minimum Snap Trajectory Generation

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw5/closed-form.png" width="400"  />

Corridor-based and Bezier-based Minimum Snap Trajectory Optimization

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw6/时间都等于2.png" width="400"  />

MDP and Real Time Dynamic programming

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw7/修改符号后的Diagonal.png" width="400"  />

MPC in path planning

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw8/hw8_part1/hw8_result.png" width="400"  />

<img src="https://github.com/yangfanyfyf/Motion-Planning-for-Mobile-Robots/blob/master/hw8/hw8_part2/n=300.png" width="400"  />