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add reedsshepppath README

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AtsushiSakai
2017-05-25 15:30:29 -07:00
parent e5afeb06e7
commit 2dee0aa461
2 changed files with 11 additions and 3 deletions
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README.md
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@@ -54,7 +54,6 @@ Path planning for a car robot with RRT\* and ducings path planner.
## Dubins path planning
A sample code for Dubins path planning.
[Dubins path - Wikipedia](https://en.wikipedia.org/wiki/Dubins_path)
@@ -63,6 +62,15 @@ A sample code for Dubins path planning.
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/DubinsPath/figures/figure_13.png)
![PythonRobotics/figure_1.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/DubinsPath/figures/figure_15.png)
## Reeds Shepp planning
A sample code with Reeds Shepp path planning.
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/ReedsSheppPath/figure_1-4.png?raw=true)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/ReedsSheppPath/figure_1-5.png?raw=true)
![PythonRobotics/figure_1-5.png at master · AtsushiSakai/PythonRobotics](https://github.com/AtsushiSakai/PythonRobotics/blob/master/scripts/PathPlanning/ReedsSheppPath/figure_1-7.png?raw=true)
# License
MIT

4
scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py
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@@ -22,7 +22,7 @@ class RRT():
"""
def __init__(self, start, goal, obstacleList, randArea,
goalSampleRate=10, maxIter=1000):
goalSampleRate=10, maxIter=2000):
u"""
Setting Parameter
@@ -290,7 +290,7 @@ if __name__ == '__main__':
# Set Initial parameters
start = [0.0, 0.0, math.radians(0.0)]
goal = [5.0, 10.0, math.radians(0.0)]
goal = [5.5, 10.0, math.radians(0.0)]
rrt = RRT(start, goal, randArea=[-2.0, 15.0], obstacleList=obstacleList)
path = rrt.Planning(animation=False)