STEB-Planner

STEB-Planner is a spatio-temporal elastic bands-based trajectory planner for autonomous vehicles using semantic graph optimization

The paper of this method is submitted to the IEEE Robotics and Automation Letters (RA-L)

Performance Display

Static obstacle avoidance

Scenario 1: Static Obstacle Avoidance

Scenario 2: Static Obstacle Avoidance

Dynamic traffic Interaction

GIF playback speed is 1.6 times. More scenes will be uploaded later.

Scenario 3: Overtaking a slow car ahead
Scenario 4: Unprotected Left Turn	Scenario 5: Merge Into the Traffic
Scenario 4: Unprotected Left Turn

Installation

Prerequisites

Our software is developed and tested in Ubuntu20.04 with ROS2 galactic. Follow this link to install galactic.

Required Library

• Eigen3
• PCL
• OpenCV

Simulation environment

We use Carla-0.9.15 as the simulator (download via this link).

To use the Carla PythonAPI, you need to export the path or install it

export CARLA_ROOT=<path-to-carla>
export PYTHONPATH=$PYTHONPATH:/carla_directory/PythonAPI/carla/dist/carla-0.9.15-py3.7-linux-x86_64.egg

Download & Compile

# Download
cd ~/your_workspace/src
git clone https://github.com/heshanchuan/STEB-Planner.git

# Compile
cd ../
source /opt/ros/galactic/setup.bash
colcon build  --symlink-install  --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DCMAKE_BUILD_TYPE=Release

Usage example

source install/setup.bash
ros2 launch steb_planner steb_planner_test.launch.xml

Release History

Notes: 1.0.0 will be our first elegant version.

• 0.1
  • CHANGE: First upload readme and some multimedia files

Contributing

1. Fork it (https://github.com/heshanchuan/STEB-Planner/fork)
2. Create your feature branch (git checkout -b feature/fooBar)
3. Commit your changes (git commit -am 'Add some fooBar')
4. Push to the branch (git push origin feature/fooBar)
5. Create a new Pull Request

License

The source code is released under MIT license.

Disclaimer

This is research code, it is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of merchantability or fitness for a particular purpose.