RDA Planner
- Software
- Navigation and mapping
- Library
An optimization-based model predictive control motion planner for autonomous robot navigation in cluttered environments, using ADMM to compute collision avoidance in parallel.
Source on GitHub: github.com/hanruihua/RDA-planner (opens in a new tab). Facts read at commit b68e2d9 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit b68e2d9 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Plans collision-free motion for robots and obstacles of arbitrary convex shape.
- Decomposes the MPC problem with ADMM so collision constraints for each obstacle are computed in parallel.
- Handles both static and dynamic obstacles.
- Supports differential drive, Ackermann steering and omnidirectional robot kinematics.
- A ROS wrapper is available separately in the rda_ros repository.
Written by Robotheca from the project's README (opens in a new tab) at commit b68e2d9.
Getting started
- Difficulty
- Advanced
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 21 Oct 2026 on main
- Latest release
- RDA-planner-v3.0 (25 Sept 2024)
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.