From 2dee0aa461ea294402e56d299ce17d5c0901cb57 Mon Sep 17 00:00:00 2001 From: AtsushiSakai Date: Thu, 25 May 2017 15:30:29 -0700 Subject: [PATCH] add reedsshepppath README --- README.md | 10 +++++++++- .../RRTStarCar_reeds_sheep/rrt_star_car.py | 4 ++-- 2 files changed, 11 insertions(+), 3 deletions(-) diff --git a/README.md b/README.md index cf6412f7..2261889c 100644 --- a/README.md +++ b/README.md @@ -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 diff --git a/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py b/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py index ad2b2646..1e5ab8f2 100644 --- a/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py +++ b/scripts/PathPlanning/RRTStarCar_reeds_sheep/rrt_star_car.py @@ -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)