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* wip - sketch out obstacles * move to correct path * better animation * clean up * use np to sample points * implemented time-based A* * cleaning up Grid + adding new obstacle arrangement * added unit test * formatting p1 * format STA* file * remove newlines by docstrings * linter * working on typehints * fix linter errors * lint some more * appease AppVeyor * dataclasses are 🔥 * back to @total_ordering * trailing whitespace * add docs page on SpaceTimeA* * docs lint * remove trailing newlines in doc * address comments * Update docs/modules/5_path_planning/time_based_grid_search/time_based_grid_search_main.rst --------- Co-authored-by: Atsushi Sakai <asakai.amsl+github@gmail.com>
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1.4 KiB
ReStructuredText
35 lines
1.4 KiB
ReStructuredText
.. _`Path Planning`:
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Path Planning
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=============
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Path planning is the ability of a robot to search feasible and efficient path to the goal. The path has to satisfy some constraints based on the robot’s motion model and obstacle positions, and optimize some objective functions such as time to goal and distance to obstacle. In path planning, dynamic programming based approaches and sampling based approaches are widely used[22]. Fig.5 shows simulation results of potential field path planning and LQRRRT* path planning[27].
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.. toctree::
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:maxdepth: 2
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:caption: Contents
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dynamic_window_approach/dynamic_window_approach
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bugplanner/bugplanner
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grid_base_search/grid_base_search
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time_based_grid_search/time_based_grid_search
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model_predictive_trajectory_generator/model_predictive_trajectory_generator
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state_lattice_planner/state_lattice_planner
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prm_planner/prm_planner
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visibility_road_map_planner/visibility_road_map_planner
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vrm_planner/vrm_planner
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rrt/rrt
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cubic_spline/cubic_spline
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bspline_path/bspline_path
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catmull_rom_spline/catmull_rom_spline
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clothoid_path/clothoid_path
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eta3_spline/eta3_spline
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bezier_path/bezier_path
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quintic_polynomials_planner/quintic_polynomials_planner
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dubins_path/dubins_path
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reeds_shepp_path/reeds_shepp_path
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lqr_path/lqr_path
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hybridastar/hybridastar
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frenet_frame_path/frenet_frame_path
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coverage_path/coverage_path
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elastic_bands/elastic_bands |