hanruihua/RDA-planner

[RA-Letter 2023] RDA: An Accelerated Collision Free Motion Planner for Autonomous Navigation in Cluttered Environments

What it solves

RDA Planner addresses the challenge of autonomous navigation in complex, cluttered environments where robots must avoid both static and dynamic obstacles in real-time while adhering to specific kinematic constraints.

How it works

It is an optimization-based Model Predictive Control (MPC) motion planner. It uses the Alternating Direction Method of Multipliers (ADMM) to break down complex optimization problems into smaller, simpler subproblems. This allows the planner to compute collision avoidance constraints for each obstacle in parallel, which significantly increases computation speed and enables real-time responsiveness.

Who it’s for

This tool is designed for robotics developers and researchers working with various robotic platforms, including those using differential drive, Ackermann steering, or omnidirectional systems.

Highlights

  • Shape-Aware Planning: Supports robots and obstacles of any arbitrary convex shape.
  • Real-Time Performance: Fast computation times suitable for live decision-making.
  • Dynamic Obstacle Support: Capable of handling both moving and stationary obstacles.
  • Kinematic Flexibility: Compatible with multiple robot drive systems (differential, Ackermann, omnidirectional).
  • High-Precision Control: Uses advanced optimization solvers to ensure accurate trajectories.

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