2 Autonomous car architecture. For now, this project is base for RRT-based
5 This project is developed under [GNU GPLv3 license][]. For brief project
6 history see [changelog][].
8 [GNU GPLv3 license]: ./LICENSE
9 [changelog]: ./CHANGELOG.md
12 [CMake][] is used for the project build.
15 The default planner is `T3`. Only `T3` is compatible with `USE_PTHREAD` macro
16 in `base/main.cc` file. When other planner than `T3` is going to be used the
17 `USE_PTHREAD` must not be set and `RRTBase` destructor in `base/rrtbase.cc`
18 must be uncommented. Furthermore, for `T2` commit `360ad9e` must be reverted.
28 For building the project run:
36 Or the build script may be used:
42 Macros that affects output binary may be used with the cmake commands as
45 cmake -DPLANNER=LaValle1998 ../
49 The list of available macros with values:
51 - `LaValle198` - RRT framework.
52 - `Kuwata2008` - RRT with changing cost and steering to goal.
53 - `Karaman2011` - RRT* framework.
54 - `T1` - testing planner.
55 - `T2` - testing planner based on RRT*.
56 - `T3` - testing planner, update `T2` to bidirectional.
57 - `Klamm2015` - RRT*-Connect planner.
58 - `TMAX` - Specify the upper time bound in seconds.
60 Implemented Steering procedures:
61 - `st1` - Steer directly to goal, no constraints.
62 - `st2` - Steer with maximum turning radius and direction in mind.
63 - `st3` - Reeds and Shepp steer procedure.
64 - `st4` - Very basic closed-loop simulator.
66 To disable *OpenMP*, add `-DCMAKE_DISABLE_FIND_PACKAGE_OpenMP=TRUE` to `cmake`
67 command or to `build.sh` script.
69 To add address sanitizer, please update the `CMakeLists.txt` file with:
70 - `add_compile_options(-Wall -g -Wno-unknown-pragmas -fsanitize=address)`
71 - `target_link_libraries(go_car_go asan)`
73 [CMake]: https://cmake.org/
76 The scenarios may be run by:
78 ./build/go_car_go < lpar.json > traj.json
83 ./bin/T2 < lpar.json > traj.json
88 python3 plot.py lpar.json traj.json
92 The `go_car_go` program expects json formatted on std input. The output is json
93 formatted to std output. Statistics are written to error output.
95 ## Slots technical info
96 - Street width min.: 2.75 (sometimes 2.5m).
98 ### Small cars (size 01)
99 - Norm: `ČSN 73 6056 s účinností od 1.8. 1988`.
100 - Perpendicular: 2.25 x 4.5m
101 - Parallel: 2.0 x 5,5m
103 ### Large cars (size 02)
104 - Perpendicular: 2.4 x 5.30m
105 - Parallel: 2.2 x 6.5m
108 - [Parallel parking example](./lpar.json)
109 - [Perpendicular parking example](./lper.json)
112 It is possible to run automated tests for multiple planners on one scenario.
113 For this purpose there is `test.sh` script.