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Atsushi Sakai
2017-12-15 15:17:50 -08:00
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@@ -9,20 +9,21 @@ Python sample codes for robotics algorithm.
* [Requirements](#requirements)
* [Path Planning](#path-planning)
* [Dijkstra grid search](#dijkstra-grid-search)
* [A star grid search](#a-star-grid-search)
* [Grid based search](#grid-based-search)
* [Dijkstra algorithm](#dijkstra-algorithm)
* [A* algorithm](#a-algorithm)
* [Model Predictive Trajectory Generator](#model-predictive-trajectory-generator)
* [Path optimization sample:](#path-optimization-sample)
* [Lookup table generation sample:](#lookup-table-generation-sample)
* [Path optimization sample](#path-optimization-sample)
* [Lookup table generation sample](#lookup-table-generation-sample)
* [State Lattice Planning](#state-lattice-planning)
* [Uniform polar sampling results:](#uniform-polar-sampling-results)
* [Biased polar sampling results:](#biased-polar-sampling-results)
* [Lane sampling results:](#lane-sampling-results)
* [Uniform polar sampling](#uniform-polar-sampling)
* [Biased polar sampling](#biased-polar-sampling)
* [Lane sampling](#lane-sampling)
* [Rapidly-Exploring Random Trees (RRT)](#rapidly-exploring-random-trees-rrt)
* [Basic RRT](#basic-rrt)
* [RRT*](#rrt)
* [RRT with dubins path planner](#rrt-with-dubins-path-planner)
* [RRT* with dubins path](#rrt-with-dubins-path)
* [RRT with dubins path](#rrt-with-dubins-path)
* [RRT* with dubins path](#rrt-with-dubins-path-1)
* [RRT* with reeds-sheep path](#rrt-with-reeds-sheep-path)
* [Closed Loop RRT*](#closed-loop-rrt)
* [Cubic spline planning](#cubic-spline-planning)
@@ -38,6 +39,8 @@ Python sample codes for robotics algorithm.
# Requirements
- Python 3.6.x
- numpy
- scipy
@@ -52,7 +55,9 @@ Python sample codes for robotics algorithm.
Path planning algorithm.
## Dijkstra grid search
## Grid based search
### Dijkstra algorithm
This is a 2D grid based shortest path planning with Dijkstra's algorithm.
@@ -60,7 +65,7 @@ This is a 2D grid based shortest path planning with Dijkstra's algorithm.
In the animation, cyan points are searched nodes.
## A star grid search
### A\* algorithm
This is a 2D grid based shortest path planning with A star algorithm.
@@ -75,11 +80,11 @@ It's heuristic is 2D Euclid distance.
This script is a path planning code with model predictive trajectory generator.
### Path optimization sample:
### Path optimization sample
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ModelPredictiveTrajectoryGenerator/kn05animation.gif)
### Lookup table generation sample:
### Lookup table generation sample
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/ModelPredictiveTrajectoryGenerator/lookuptable.png?raw=True)
@@ -95,19 +100,19 @@ This script is a path planning code with state lattice planning.
This code uses the model predictive trajectory generator to solve boundary problem.
### Uniform polar sampling results:
### Uniform polar sampling
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/StateLatticePlanner/Figure_1.png)
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/StateLatticePlanner/Figure_2.png)
### Biased polar sampling results:
### Biased polar sampling
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/StateLatticePlanner/Figure_3.png)
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/StateLatticePlanner/Figure_4.png)
### Lane sampling results:
### Lane sampling
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/StateLatticePlanner/Figure_5.png)
@@ -132,7 +137,7 @@ This script is a path planning code with RRT \*
- [Incremental Sampling-based Algorithms for Optimal Motion Planning](https://arxiv.org/abs/1005.0416)
### RRT with dubins path planner
### RRT with dubins path
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/PathPlanning/RRTCar/animation.gif)