From 295645f4169c4b7031f8cf0cadf3a643d242c50a Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Wed, 2 Oct 2019 20:51:22 +0900 Subject: [PATCH] fixed rrt star.py --- PathPlanning/RRTStar/rrt_star.py | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/PathPlanning/RRTStar/rrt_star.py b/PathPlanning/RRTStar/rrt_star.py index eb37964d..1c6d6828 100644 --- a/PathPlanning/RRTStar/rrt_star.py +++ b/PathPlanning/RRTStar/rrt_star.py @@ -52,6 +52,7 @@ class RRTStar(RRT): """ self.connect_circle_dist = connect_circle_dist + self.goal_node = self.Node(goal[0], goal[1]) def planning(self, animation=True, search_until_max_iter=True): """ @@ -121,7 +122,14 @@ class RRTStar(RRT): dist_to_goal_list = [self.calc_dist_to_goal(n.x, n.y) for n in self.node_list] goal_inds = [dist_to_goal_list.index(i) for i in dist_to_goal_list if i <= self.expand_dis] - if not goal_inds: + # safe_goal_inds = goal_inds + safe_goal_inds = [] + for goal_ind in goal_inds: + t_node = self.steer(self.node_list[goal_ind], self.goal_node) + if self.check_collision(t_node, self.obstacle_list): + safe_goal_inds.append(goal_ind) + + if not safe_goal_inds: return None min_cost = min([self.node_list[i].cost for i in goal_inds]) @@ -177,12 +185,13 @@ def main(): (3, 8, 2), (3, 10, 2), (7, 5, 2), - (9, 5, 2) + (9, 5, 2), + (8, 10, 1), ] # [x,y,size(radius)] # Set Initial parameters rrt_star = RRTStar(start=[0, 0], - goal=[10, 10], + goal=[6, 10], rand_area=[-2, 15], obstacle_list=obstacle_list) path = rrt_star.planning(animation=show_animation)