From a7eec6371bbbea71a2da4095fb80aed0e0788c86 Mon Sep 17 00:00:00 2001 From: Atsushi Sakai Date: Sat, 16 Jun 2018 21:50:54 +0900 Subject: [PATCH] add README --- .../BatchInformedRRTStar/batch_informed_rrtstar.py | 4 ++-- README.md | 12 ++++++++++++ 2 files changed, 14 insertions(+), 2 deletions(-) diff --git a/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py b/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py index 826c615b..4db22928 100644 --- a/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py +++ b/PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py @@ -329,8 +329,8 @@ class BITStar(object): def connect(self, start, end): # A function which attempts to extend from a start coordinates # to goal coordinates - steps = self.computeDistanceCost(self.tree.realWorldToNodeId( - start), self.tree.realWorldToNodeId(end)) * 10 + steps = int(self.computeDistanceCost(self.tree.realWorldToNodeId( + start), self.tree.realWorldToNodeId(end)) * 10) x = np.linspace(start[0], end[0], num=steps) y = np.linspace(start[1], end[1], num=steps) for i in range(len(x)): diff --git a/README.md b/README.md index 1a4396bb..3bea29e7 100644 --- a/README.md +++ b/README.md @@ -5,6 +5,7 @@ Python codes for robotics algorithm. + # Table of Contents * [What is this?](#what-is-this) * [Requirements](#requirements) @@ -47,6 +48,7 @@ Python codes for robotics algorithm. * [RRT* with dubins path](#rrt-with-dubins-path-1) * [RRT* with reeds-sheep path](#rrt-with-reeds-sheep-path) * [Informed RRT*](#informed-rrt) + * [Batch Informed RRT*](#batch-informed-rrt) * [Closed Loop RRT*](#closed-loop-rrt) * [LQR-RRT*](#lqr-rrt) * [Cubic spline planning](#cubic-spline-planning) @@ -474,6 +476,15 @@ Ref: - [Informed RRT\*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic](https://arxiv.org/pdf/1404.2334.pdf) +### Batch Informed RRT\* + +![irrt](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/BatchInformedRRTStar/animation.gif)) + +This is a path planning code with Batch Informed RRT\*. + +Ref: + +- [Batch Informed Trees \(BIT\*\): Sampling\-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs](https://arxiv.org/abs/1405.5848) ### Closed Loop RRT\* @@ -725,3 +736,4 @@ You can support financially this project via PayPal. +