Support for differential drive robots

ipab-slmc / exotica

Extensible Optimization Framework

https://ipab-slmc.github.io/exotica

BSD 3-Clause "New" or "Revised" License

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Support for differential drive robots #701

Closed maxspahn closed 4 years ago

maxspahn commented 4 years ago

Currently, it is possible to plan with floating bases. Libraries like OMPL also support differential drives, using DubinsStateSpaces or ReedsSheppStateSpaces. Integrating this feature would allow planning for a new range of robots, mainly autonomous cars and mobile manipulators.

wxmerkt commented 4 years ago

Hi @maxspahn, Thank you for using Exotica. With the new motion problems using dynamics (DynamicTimeIndexedShootingProblem) and corresponding solvers, this can be realised by creating a new DynamicsSolver.

What is your application and intended use? Mostly sampling- or optimisation-based planning? Also happy for you to drop me an email (wolfgang at robots.ox.ac.uk) if you'd like to discuss in private.

Best wishes, Wolfgang