RustRobotics

This package is a rust implementation of PythonRobotics.

Build

git clone https://github.com/rsasaki0109/RustRobotics.git
cd RustRobotics
cargo build

Run (Example)

cargo run --bin a_star
cargo run --bin rrt
cargo run --bin inverted_pendulum_lqr
cargo run --bin two_joint_arm_control

Table of Contents

• Localization
  • Extended Kalman Filter Localization
  • Particle Filter Localization
  • Unscented Kalman Filter Localization
• Mapping
  • NDT Map
• SLAM
  • Iterative Closest Point
  • FastSLAM 1.0
• Path Planning
  • A* Algorithm
  • Bezier Path Planning
  • Cubic Spline
  • D* Lite
  • Dynamic Window Approach
  • Dijkstra Algorithm
  • Informed RRT*
  • Model Predictive Trajectory Generator
  • Potential Field Algorithm
  • Quintic Polynomials
  • Rapidly-Exploring Random Trees (RRT)
  • RRT*
  • Reeds-Shepp Path
  • State Lattice Planner
• Path Tracking
  • LQR Steer Control
  • Move to Pose
  • Pure Pursuit
  • Stanley Control
  • Nonlinear Model predictive control with C-GMRES
• Inverted Pendulum
  • LQR Control
• Arm Navigation
  • Two Joint Arm Control

Localization

Extended Kalman Filter Localization

Red:GPS, Brue:Ground Truth, Green:EKF, Yellow:Dead Reckoning

• src

cargo run --bin ekf

Particle Filter Localization

Blue: GPS, Red: Ground Truth, Green: Particle Filter, Yellow: Dead Reckoning

• src

cargo run --bin particle_filter

Unscented Kalman Filter Localization

Blue: Ground Truth, Red: UKF Estimate, Black: Dead Reckoning, Green: GPS Observations, Red Ellipse: Uncertainty

• src

cargo run --bin unscented_kalman_filter

Mapping

NDT Map

• src

cargo run --bin ndt

SLAM

Iterative Closest Point (ICP) Matching

Red: Reference points, Blue: Initial points, Green: Aligned points

• src

cargo run --bin icp_matching

FastSLAM 1.0

Path Planning

A* Algorithm

Blue: Start, Red: Goal, Green: Path, Gray: Obstacles

• src

cargo run --bin a_star

Bezier Path Planning

Blue: Start, Red: Goal, Green: Path

• src

cargo run --bin bezier_path_planning

Cubic Spline

Black: Control points, Green: Path

• src

cargo run --bin csp

Dynamic Window Approach

Black: Obstacles, Green: Trajectory, Yellow: Predicted trajectory

• src

cargo run --bin dwa

D* Lite

Blue: Start, Red: Goal, Green: Path, Black: Obstacles

• src

cargo run --bin d_star_lite

D* Lite is an incremental heuristic search algorithm for path planning in dynamic environments. It's particularly efficient for replanning when the environment changes.

Dijkstra Algorithm

• src

cargo run --bin dijkstra

Informed RRT*

Blue: Start, Red: Goal, Green: Path, Black: Tree

• src

cargo run --bin informed_rrt_star

Model Predictive Trajectory Generator

Green: Path

• src

cargo run --bin model_predictive_trajectory_generator

Potential Field Algorithm

Blue: Start, Red: Goal, Green: Path, Gray: Obstacles

• src

cargo run --bin potential_field

Quintic Polynomials

Blue: Start, Red: Goal, Green: Path

• src

cargo run --bin quintic_polynomials

Rapidly-Exploring Random Trees (RRT)

Blue: Start, Red: Goal, Green: Path, Black: Tree

• src

cargo run --bin rrt

RRT*

Blue: Start, Red: Goal, Green: Path, Black: Tree

• src

cargo run --bin rrt_star

Reeds-Shepp Path

Blue: Start, Red: Goal, Green: Path

• src

cargo run --bin reeds_shepp_path

State Lattice Planner

Path Tracking

LQR Steer Control

Black: Planned path, Green: Tracked path

• src

cargo run --bin lqr_steer_control

Move to Pose

Green: Path, Red: Start and Goal

• src

cargo run --bin move_to_pose

Pure Pursuit

Black: Planned path, Green: Tracked path

• src

cargo run --bin pure_pursuit

Stanley Control

Black: Planned path, Green: Tracked path

• src

cargo run --bin stanley_controller

Nonlinear Model predictive control with C-GMRES

Inverted Pendulum

LQR Control

Blue: Position, Red: Angle

• src

cargo run --bin inverted_pendulum_lqr

Arm Navigation

Two Joint Arm Control

Blue: Theta1, Red: Theta2 joint angles over time

• src

cargo run --bin two_joint_arm_control

Mission Planning

State Machine

Finite state machine for robot behavior management with states, transitions, guards, and actions

• src

cargo run --bin state_machine