Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap

paper_video.2.mp4

Compile

# prerequest
sudo apt install ros-noetic-turtlebot3-description ros-noetic-fake-localization ros-noetic-jsk-rviz-plugins

mkdir -p sr_ws/src
cd sr_ws/src
git clone https://github.com/kkkkkaiai/starshaped_roadmap.git
cd .. && catkin_make

Execute

# launch the environment
roslaunch starworlds turtlebot_simulation.launch

# run the node (in the ss_rm directory)
python star_ros.py

Citing

@INPROCEEDINGS{11128318,
  author={Chen, Kai and Liu, Haichao and Li, Yulin and Duan, Jianghua and Zhu, Lei and Ma, Jun},
  booktitle={2025 IEEE International Conference on Robotics and Automation (ICRA)}, 
  title={Robot Navigation in Unknown and Cluttered Workspace with Dynamical System Modulation in Starshaped Roadmap}, 
  year={2025},
  pages={10140-10146},
  keywords={Navigation;Heuristic algorithms;Source coding;Modulation;Aerospace electronics;Robot sensing systems;Real-time systems;Stability analysis;Planning;Dynamical systems},
  doi={10.1109/ICRA55743.2025.11128318}
}

Thanks

• Dynamic Obstacle Avoidance
• Fast Obstacle Avoidance
• Various Tools