The mpc_local_planner package implements a plugin to the base_local_planner of the 2D navigation stack. It provides a generic and versatile model predictive control implementation with minimum-time and quadratic-form receding-horizon configurations.

A ROS move_base local planner plugin for Car-Like robots with Ackermann or 4-Wheel-Steering.

ROS keyboard and joystick teleoperation scripts for robots with ackermann steering

A ROS Wrapper for Reeds-Shepp Planning by OMPL.

A ROS move_base recovery behavior plugin for Car-Like robots.

A 2D simulation in Pygame of the paper "Randomized Kinodynamic Planning" by Steven M. LaValle, and James J. Kuffner, Jr.

Freespace Reeds-Shepp planner that is an order of magnitude faster than OMPL's implementation with no compromise, no parallelization, and no multi-threading.

Introduces and solves the under-specified Reeds-Shepp problem: find the vehicle orientation that results in the shortest path.

Robotics project. Autonomous parking of a car-like robot without sensors