pyRRTs
所属分类：自动驾驶
开发工具：Python
文件大小：69KB
下载次数：1
上传日期：2020-06-28 19:00:32
上 传 者：
sh-1993
说明： pyRRT，基于RRT*（RRT-Star）的自动驾驶路径规划算法，Python2。
(pyRRTs,RRT*(RRT Star)-based algorithms for Path Planning of Autonomous Driving, in Python2.)
文件列表:
LICENSE (1074, 2020-06-29)
rrts (0, 2020-06-29)
rrts\__init__.py (60, 2020-06-29)
rrts\debugger.py (7268, 2020-06-29)
rrts\planner.py (23160, 2020-06-29)
setup.py (753, 2020-06-29)
test (0, 2020-06-29)
test\plan_hist.csv (10000, 2020-06-29)
test\test_collision_check.py (3077, 2020-06-29)
test\test_planner.py (4519, 2020-06-29)
test\test_scenes (0, 2020-06-29)
test\test_scenes\0_gridmap.png (8193, 2020-06-29)
test\test_scenes\0_ose.txt (1415, 2020-06-29)
test\test_scenes\0_pred.txt (501, 2020-06-29)
test\test_scenes\0_task.txt (205, 2020-06-29)
test\test_scenes\2062_gridmap.png (8391, 2020-06-29)
test\test_scenes\2062_task.txt (202, 2020-06-29)
test\test_scenes\20_gridmap.png (9360, 2020-06-29)
test\test_scenes\20_task.txt (202, 2020-06-29)
test\test_scenes\40_gridmap.png (8567, 2020-06-29)
test\test_scenes\40_task.txt (204, 2020-06-29)
test\test_scenes\60_gridmap.png (7888, 2020-06-29)
test\test_scenes\60_task.txt (202, 2020-06-29)
test\test_scenes\85_gridmap.png (8481, 2020-06-29)
test\test_scenes\85_ose.txt (2208, 2020-06-29)
test\test_scenes\85_task.txt (201, 2020-06-29)
# RRTs
*(What is it)* A repository of Python2 implemented RRT\*-based algorithms for Path (Motion) Planning of Autonomous Driving.
Currently, it includes these variants:
1. RRT\*[^1], for static environments (parking lots, narrow space).
2. Bi-RRT\*[^2], for static environments (parking lots, narrow space).
## How to use
```python
from rrts.planner import RRTStar, BiRRTStar
# see test directory for details to set arguments.
rrt_star = RRTStar() # or rrt_star= BiRRTStar()
rrt_star.set_vehicle(check_poly, check_res, maximum_curvature)
rrt_star.preset(start, goal, grid_map, grid_res, grid_ori, obstacle, heuristic)
rrt_star.planning(times, debug)
```
## How to install
- **PyPI**
```shell script
$ pip2 install rrts
```
- **From source**
```shell script
$ git clone https://github.com/liespace/pyRRTs.git
$ cd pyRRTs
$ python2 setup.py sdist
# install
$ pip2 install rrts -f dist/* --no-cache-dir
# or upload yours
# $ twine upload dist/*
```
## Reference
[^1]: Karaman, Sertac, and Emilio Frazzoli. "Sampling-based algorithms for optimal motion planning." The international journal of robotics research 30.7 (2011): 846-894.
[^2]: Jordan, Matthew, and Alejandro Perez. "Optimal bidirectional rapidly-exploring random trees." (2013).
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