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73e1c0bebc
This commit adds "Code Link" sections to documentation across various path planning modules, linking to relevant class and function APIs. Additionally, several class renaming changes were made, such as `Dijkstra` to `DijkstraPlanner` and `eta3_trajectory` to `Eta3SplineTrajectory`, to enhance naming consistency. Minor fixes include file restructuring and image renaming for the RRT module.
172 lines
4.2 KiB
ReStructuredText
172 lines
4.2 KiB
ReStructuredText
.. _rapidly-exploring-random-trees-(rrt):
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Rapidly-Exploring Random Trees (RRT)
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------------------------------------
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Basic RRT
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~~~~~~~~~
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRT/animation.gif
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This is a simple path planning code with Rapidly-Exploring Random Trees
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(RRT)
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Black circles are obstacles, green line is a searched tree, red crosses
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are start and goal positions.
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Code Link
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^^^^^^^^^^
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.. autoclass:: PathPlanning.RRT.rrt.RRT
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.. include:: rrt_star.rst
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RRT with dubins path
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~~~~~~~~~~~~~~~~~~~~
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTDubins/animation.gif
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Path planning for a car robot with RRT and dubins path planner.
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Code Link
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^^^^^^^^^^
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.. autoclass:: PathPlanning.RRTDubins.rrt_dubins.RRTDubins
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.. _rrt*-with-dubins-path:
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RRT\* with dubins path
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~~~~~~~~~~~~~~~~~~~~~~
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTStarDubins/animation.gif
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Path planning for a car robot with RRT\* and dubins path planner.
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Code Link
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^^^^^^^^^^
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.. autoclass:: PathPlanning.RRTStarDubins.rrt_star_dubins.RRTStarDubins
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.. _rrt*-with-reeds-sheep-path:
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RRT\* with reeds-sheep path
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~~~~~~~~~~~~~~~~~~~~~~~~~~~
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTStarReedsShepp/animation.gif
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Path planning for a car robot with RRT\* and reeds sheep path planner.
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Code Link
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^^^^^^^^^^
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.. autoclass:: PathPlanning.RRTStarReedsShepp.rrt_star_reeds_shepp.RRTStarReedsShepp
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.. _informed-rrt*:
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Informed RRT\*
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~~~~~~~~~~~~~~
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/InformedRRTStar/animation.gif
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This is a path planning code with Informed RRT*.
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The cyan ellipse is the heuristic sampling domain of Informed RRT*.
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Code Link
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^^^^^^^^^^
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.. autoclass:: PathPlanning.InformedRRTStar.informed_rrt_star.InformedRRTStar
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Reference
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^^^^^^^^^^
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- `Informed RRT\*: Optimal Sampling-based Path Planning Focused via
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Direct Sampling of an Admissible Ellipsoidal
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Heuristic <https://arxiv.org/pdf/1404.2334>`__
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.. _batch-informed-rrt*:
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Batch Informed RRT\*
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~~~~~~~~~~~~~~~~~~~~
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/BatchInformedRRTStar/animation.gif
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This is a path planning code with Batch Informed RRT*.
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Code Link
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^^^^^^^^^^
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.. autoclass:: PathPlanning.BatchInformedRRTStar.batch_informed_rrt_star.BITStar
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Reference
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^^^^^^^^^^^
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- `Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the
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Heuristically Guided Search of Implicit Random Geometric
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Graphs <https://arxiv.org/abs/1405.5848>`__
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.. _closed-loop-rrt*:
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Closed Loop RRT\*
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~~~~~~~~~~~~~~~~~
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A vehicle model based path planning with closed loop RRT*.
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/ClosedLoopRRTStar/animation.gif
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In this code, pure-pursuit algorithm is used for steering control,
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PID is used for speed control.
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Code Link
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^^^^^^^^^^
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.. autoclass:: PathPlanning.ClosedLoopRRTStar.closed_loop_rrt_star_car.ClosedLoopRRTStar
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Reference
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^^^^^^^^^^^^
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- `Motion Planning in Complex Environments using Closed-loop
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Prediction <https://acl.mit.edu/papers/KuwataGNC08.pdf>`__
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- `Real-time Motion Planning with Applications to Autonomous Urban
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Driving <https://acl.mit.edu/papers/KuwataTCST09.pdf>`__
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- `[1601.06326] Sampling-based Algorithms for Optimal Motion Planning
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Using Closed-loop Prediction <https://arxiv.org/abs/1601.06326>`__
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.. _lqr-rrt*:
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LQR-RRT\*
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~~~~~~~~~
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This is a path planning simulation with LQR-RRT*.
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A double integrator motion model is used for LQR local planner.
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.. image:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/LQRRRTStar/animation.gif
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Code Link
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^^^^^^^^^^
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.. autoclass:: PathPlanning.LQRRRTStar.lqr_rrt_star.LQRRRTStar
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Reference
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~~~~~~~~~~~~~
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- `LQR-RRT\*: Optimal Sampling-Based Motion Planning with Automatically
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Derived Extension
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Heuristics <https://lis.csail.mit.edu/pubs/perez-icra12.pdf>`__
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- `MahanFathi/LQR-RRTstar: LQR-RRT\* method is used for random motion planning of a simple pendulum in its phase plot <https://github.com/MahanFathi/LQR-RRTstar>`__ |