mjansen4857/pathplanner

A simple yet powerful path planning tool for FRC robots

What it solves

PathPlanner is a motion profile generator designed for FRC (First Robotics Competition) robots. It simplifies the process of creating complex autonomous paths, allowing teams to create precise movements without manually coding every coordinate.

How it works

The tool uses Bézier curves to define the shape of the robot's path. It provides a visual interface for path creation and a companion vendor library (PathPlannerLib) for the robot-side implementation. The system supports holonomic mode to decouple rotation from travel direction and includes an AD* pathfinding algorithm for automatic path generation.

Who it’s for

Robotics teams participating in FRC who need a visual tool to generate motion profiles and manage autonomous routines.

Highlights

  • Bézier Curve Tuning: Allows for precise control over the exact shape of the path.
  • Event Markers: Ability to place triggers along a path to execute specific code during movement.
  • Robot-Side Integration: Includes a vendor library for path generation and custom controllers.
  • Hot Reload: Paths and autonomous routines can be updated on the robot without needing to redeploy the entire codebase.
  • Real-time Telemetry: Provides live feedback during path following.

Related

  • Project
    open-planning/roboplan

    A modern C++ robot motion planning library based on Pinocchio that provides tools for inverse kinematics, RRT-based planning, and trajectory timing.

  • Project
    hanruihua/RDA-planner

    An optimization-based MPC motion planner that uses ADMM to enable real-time, collision-free navigation for robots in cluttered environments.

  • Project
    hungpham2511/toppra

    A library for computing time-optimal path parameterization for robots, allowing them to move along a geometric path as quickly as possible while respecting kinematic and dynamic constraints.

  • Project
    pantor/ruckig

    Ruckig is a real-time, jerk-limited trajectory generation library for robots and machines. It computes time-optimal paths from any initial state to a target state while respecting velocity, acceleration, and jerk constraints, enabling instant response to sensor input and smooth, efficient motion.

  • Project
    TongjiSuperPower/sp_vision_25

    An open-source auto-aiming and fire-control system for combat robots that uses neural network detection and trajectory planning to maximize hit rates and minimize kill times.