I am planning to simulate some common motion planning algorithms on a car - including sensor readings in a virtual environment, applying the algorithm, smoothing the best trajectory and performing the low-level control.
I have decided that using OMPL will be the most prudent course, but I am unsure which tool to use with it. I've read many sources which have used MoveIt, MORSE, etc. interfaced with OMPL to simulate the motion. Please can you suggest which would be the best option for a car?
I've read about teb_local_planner as well but I'm not exactly sure, is it meant to be used in conjunction with a global motion planning algorithm like RRT? Because the description says that it optimizes the trajectory generated by a global planner.
Any help in this regard will be much appreciated.
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