Figure 1: RRT* Algorithm Implemented in ROS Simulation of the F1tenth Vehicle. Visualized in RViz.
Figure 2: (Left) Static Obstacle Avoidance. The Pure Pursuit Algorithm is used to tightly track a forward-backward optimized
minimum-curvature raceline when no obstacle is present. A Sampling Based Local Planner using clothoids is activated
when the car comes too close to a wall or an obstacle lies on the raceline (detected with 2D LIDAR). (Right) The same stack is
implemented and unchanged for relatively consistent dynamic obstacle avoidance, while maintaining high speed.
Yes the quality in the above videos is terrible, I'm working on refactoring and reviving this work so I can generate higher quality videos.
