Merge pull request #3 from SalahEddineGhamri/main

update depencies & manage consequences & update readme & add grid_map to lib.rs & add dijkstra motion planning

Author: rsasaki0109

Cargo.toml

@@ -7,6 +7,10 @@ edition = "2018"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-nalgebra = "0.21"
-plotlib = "0.5"
-rand = "0.7.3"
+nalgebra = "0.32.4"
+plotlib = "0.5.1"
+rand = "0.8.5"
+rand_distr = "0.4.3"
+itertools = "0.12.1"
+gnuplot = "0.0.42"
+ordered-float = "4.2.0"

README.md

@@ -20,14 +20,14 @@ cargo run --bin ekf
       * [Extended kalman filter localization](#extended-kalman-filter-localization)
       * Particle filter localization
    * [SLAM](#slam)
-      * Iterative Closest Point 
+      * Iterative Closest Point
       * FastSLAM 1.0
    * [Path Planning](#path-planning)
       * [Bezier Path](#bezier-path)
       * [Cubic Spline](#cubic-spline)
       * [Dynamic Window Approach](#dynamic-window-approach)
       * [Model Predictive Trajectory Generator](#model-predictive-trajectory-generator)
-      * Dijkstra algorithm
+      * [Dijkstra algorithm](#dijkstra-algorithm)
       * Potential Field algorithm
       * State Lattice Planner
       * Rapidly-Exploring Random Trees (RRT)
@@ -41,7 +41,7 @@ cargo run --bin ekf
 # Localization
 ## Extended Kalman Filter Localization
 
-<img src="./img/ekf.svg" width="640px"> 
+<img src="./img/ekf.svg" width="640px">
 
 
 Red:GPS, Brue:Ground Truth, Green:EKF, Yellow:Dead Reckoning
@@ -62,7 +62,7 @@ cargo run --bin ekf
 # Path Planning
 ## Bezier Path
 
-<img src="./img/bezier_path.svg" width="640px"> 
+<img src="./img/bezier_path.svg" width="640px">
 
 Brack:Control points, Green: Path, Red: Start and Goal
 
@@ -75,7 +75,7 @@ cargo run --bin bezier_path
 ## Cubic Spline
 
 
-<img src="./img/csp.svg" width="640px">  
+<img src="./img/csp.svg" width="640px">
 
 Brack:Control points, Green: Path
 
@@ -88,7 +88,7 @@ cargo run --bin csp
 
 ## Dynamic Window Approach
 
-<img src="./img/dwa.svg" width="640px">  
+<img src="./img/dwa.svg" width="640px">
 
 Brack: Obstacles, Green: Trajectry, Yellow: Predected trajectry
 
@@ -100,9 +100,9 @@ cargo run --bin dwa
 
 ## Model Predictive Trajectory Generator
 
-<img src="./img/model_predictive_trajectory_generator.svg" width="640px">  
+<img src="./img/model_predictive_trajectory_generator.svg" width="640px">
 
-Green: Path 
+Green: Path
 
 - [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/model_predictive_trajectory_generator.rs)
 
@@ -112,13 +112,18 @@ cargo run --bin model_predictive_trajectory_generator
 ```
 
 ## Dijkstra algorithm
+
+<img src="./media/dijkstra-motion-planner.gif" width="640px">
+
+- [src](./src/bin/dijkstra.rs)
+
 ## Potential Field algorithm
 ## State Lattice Planner
 ## Rapidly-Exploring Random Trees
 
 # Path Tracking
-## Move to Pose 
-<img src="./img/move_to_pose.svg" width="640px">  
+## Move to Pose
+<img src="./img/move_to_pose.svg" width="640px">
 
 Green: Path, Red: Start and Goal
 
@@ -130,9 +135,9 @@ cargo run --bin move_to_pose
 
 ## Pure Pursuit
 
-<img src="./img/pure_pursuit.svg" width="640px">  
+<img src="./img/pure_pursuit.svg" width="640px">
 
-Brack: Planned path, Green: Tracked path 
+Brack: Planned path, Green: Tracked path
 
 - [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/pure_pursuit.rs)
 
@@ -141,25 +146,25 @@ Brack: Planned path, Green: Tracked path
 cargo run --bin pure_pursuit
 ```
 
-## Stanly Control 
+## Stanly Control
 
-<img src="./img/stanley_control.svg" width="640px">  
+<img src="./img/stanley_control.svg" width="640px">
 
-Brack: Planned path, Green: Tracked path 
+Brack: Planned path, Green: Tracked path
 
 - [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/stanley_controller.rs)
 
 
 ```
-cargo run --bin stanley_control
+cargo run --bin stanley_controller
 ```
 
 
 ## LQR steer control
 
-<img src="./img/lqr_steer_control.svg" width="640px">  
+<img src="./img/lqr_steer_control.svg" width="640px">
 
-Brack: Planned path, Green: Tracked path 
+Brack: Planned path, Green: Tracked path
 
 - [src](https://github.com/rsasaki0109/RustRobotics/blob/master/src/bin/lqr_steer_control.rs)