MGPMP

Mission-oriented Gaussian Process Motion Planning (MGPMP) is a novel motion planning framework for unmanned under-water vehicles (UUVs) - the first framework that applies Gaussian process motion planning to solve a 3D path planning problem for a 6-DoF robot in underwaterenvironments. We address missions requiring UUVs to remain in close proximity to seafloor terrain, which must be achieved alongside collision avoidance. Our framework also considers the influence of current flows as part of the cost function, allowing for more accurate planning.

• Here we provide a 3D motion planning example and two example datasets, NYC upper bay dataset and Queen Elizabeth Island dataset.
• The GP Motion Planning code in GPMP2 folder is developed based on GPMP2.

  ├──MGPMP
     ├── ...
     ├── gpmp2                      # GP Motion Planning code
     ├── tests
     │   └── Mobile3DPlanning.cpp   # 3D motion planning example
     ├── data                       # Folder for NYC upper bay(NYC) and Queen Elizabeth Island upper bay(str) dataset
     └── ...

Dependencies

• CMake >= 3.0

sudo apt-get install cmake

• Boost >=1.65 < 1.74

sudo apt-get install libboost-all-dev

• GTSAM 4.0.0

git clone https://github.com/borglab/gtsam.git
cd gtsam
git checkout wrap-export # only work with specific version of GTSAM
mkdir build && cd build
cmake ..
make check  # optional, run unit tests
sudo make install

• YAML-cpp

git clone https://github.com/jbeder/yaml-cpp.git
cd 
mkdir build && cd build
cmake ..
make
sudo make install

• edt

git clone https://github.com/seung-lab/euclidean-distance-transform-3d.git
mkdir UUVPlanning/third_party/edt
cp euclidean-distance-transform-3d/cpp/edt.hpp UUVPlanning/third_party/edt
cp euclidean-distance-transform-3d/cpp/threadpool.h UUVPlanning/third_party/edt

In file threadpool.h
change line 73 to:
inline void ThreadPool::start(size_t threads) {

In file edt.hpp
change line 144 to:
inline void squared_edt_1d_parabolic(
change line 225 to:
inline void squared_edt_1d_parabolic(
change line 295 to:
inline void _squared_edt_1d_parabolic(

• matlot++

cd UUVPlanning/third_party
git clone https://github.com/alandefreitas/matplotplusplus.git

How to use

cd Misson-Oriented-GP-Motion-Planning
mkdir build
cd build
cmake ..
make
tests/testMobile3D your_choice_of_yaml_file.yaml (example:../data/STR.yaml)