文件列表:

.idea (0, 2020-12-15)
.idea\PathPlanning.iml (486, 2020-12-15)
.idea\inspectionProfiles (0, 2020-12-15)
.idea\inspectionProfiles\profiles_settings.xml (174, 2020-12-15)
.idea\misc.xml (185, 2020-12-15)
.idea\modules.xml (276, 2020-12-15)
.idea\vcs.xml (180, 2020-12-15)
CurvesGenerator (0, 2020-12-15)
CurvesGenerator\__pycache__ (0, 2020-12-15)
CurvesGenerator\__pycache__\draw.cpython-37.pyc (1824, 2020-12-15)
CurvesGenerator\__pycache__\dubins_path.cpython-37.pyc (8258, 2020-12-15)
CurvesGenerator\bezier_path.py (4196, 2020-12-15)
CurvesGenerator\bspline_curve.py (2333, 2020-12-15)
CurvesGenerator\cubic_spline.py (6020, 2020-12-15)
CurvesGenerator\draw.py (1991, 2020-12-15)
CurvesGenerator\dubins_path.py (9343, 2020-12-15)
CurvesGenerator\quartic_polynomial.py (945, 2020-12-15)
CurvesGenerator\quintic_polynomial.py (3884, 2020-12-15)
CurvesGenerator\reeds_shepp.py (18559, 2020-12-15)
LICENSE (1069, 2020-12-15)
Sampling_based_Planning (0, 2020-12-15)
Sampling_based_Planning\gif (0, 2020-12-15)
Sampling_based_Planning\gif\BIT.gif (150894, 2020-12-15)
Sampling_based_Planning\gif\BIT2.gif (138822, 2020-12-15)
Sampling_based_Planning\gif\Dynamic_RRT_2D.gif (469065, 2020-12-15)
Sampling_based_Planning\gif\Extended_RRT_2D.gif (564966, 2020-12-15)
Sampling_based_Planning\gif\FMT.gif (173903, 2020-12-15)
Sampling_based_Planning\gif\Goal_biasd_RRT_2D.gif (195261, 2020-12-15)
Sampling_based_Planning\gif\INFORMED_RRT_STAR_2D.gif (124694, 2020-12-15)
Sampling_based_Planning\gif\INFORMED_RRT_STAR_2D2.gif (206852, 2020-12-15)
Sampling_based_Planning\gif\INFORMED_RRT_STAR_2D3.gif (171451, 2020-12-15)
Sampling_based_Planning\gif\RRT_2D.gif (494000, 2020-12-15)
Sampling_based_Planning\gif\RRT_CONNECT_2D.gif (126215, 2020-12-15)
Sampling_based_Planning\gif\RRT_STAR2_2D.gif (70765, 2020-12-15)
Sampling_based_Planning\gif\RRT_STAR_2D.gif (70611, 2020-12-15)
Sampling_based_Planning\gif\RRT_STAR_SMART_2D.gif (237158, 2020-12-15)
Sampling_based_Planning\rrt_2D (0, 2020-12-15)
... ...

Overview ------ This repository implements some common path planning algorithms used in robotics, including Search-based algorithms and Sampling-based algorithms. We designed animation for each algorithm to display the running process. The related papers are listed in [Papers](https://github.com/zhm-real/PathPlanning#papers). Directory Structure ------ . └── Search-based Planning ├── Breadth-First Searching (BFS) ├── Depth-First Searching (DFS) ├── Best-First Searching ├── Dijkstra's ├── A* ├── Bidirectional A* ├── Anytime Repairing A* ├── Learning Real-time A* (LRTA*) ├── Real-time Adaptive A* (RTAA*) ├── Lifelong Planning A* (LPA*) ├── Dynamic A* (D*) ├── D* Lite └── Anytime D* └── Sampling-based Planning ├── RRT ├── RRT-Connect ├── Extended-RRT ├── Dynamic-RRT ├── RRT* ├── Informed RRT* ├── RRT* Smart ├── Anytime RRT* ├── Closed-Loop RRT* ├── Spline-RRT* ├── Fast Marching Trees (FMT*) └── Batch Informed Trees (BIT*) └── Papers ## Animations - Search-Based ### Best-First & Dijkstra ### A* and A* Variants ## Animation - Sampling-Based ### RRT & Variants ## Papers ### Search-base Planning * [A*: ](https://ieeexplore.ieee.org/document/4082128) A Formal Basis for the heuristic Determination of Minimum Cost Paths * [Learning Real-Time A*: ](https://arxiv.org/pdf/1110.4076.pdf) Learning in Real-Time Search: A Unifying Framework * [Real-Time Adaptive A*: ](http://idm-lab.org/bib/abstracts/papers/aamas06.pdf) Real-Time Adaptive A* * [Lifelong Planning A*: ](https://www.cs.cmu.edu/~maxim/files/aij04.pdf) Lifelong Planning A* * [Anytime Repairing A*: ](https://papers.nips.cc/paper/2382-ara-anytime-a-with-provable-bounds-on-sub-optimality.pdf) ARA*: Anytime A* with Provable Bounds on Sub-Optimality * [D*: ](http://web.mit.edu/1***12j/www/html/papers/original_dstar_icra94.pdf) Optimal and Efficient Path Planning for Partially-Known Environments * [D* Lite: ](http://idm-lab.org/bib/abstracts/papers/***i02b.pdf) D* Lite * [Field D*: ](http://robots.stanford.edu/isrr-papers/draft/stentz.pdf) Field D*: An Interpolation-based Path Planner and Replanner * [Anytime D*: ](http://www.cs.cmu.edu/~ggordon/likhachev-etal.anytime-dstar.pdf) Anytime Dynamic A*: An Anytime, Replanning Algorithm * [Focussed D*: ](http://robotics.caltech.edu/~jwb/courses/ME132/handouts/Dstar_ijcai95.pdf) The Focussed D* Algorithm for Real-Time Replanning * [Potential Field, ](https://journals.sagepub.com/doi/abs/10.1177/02783******600500106) [[PPT]: ](https://www.cs.cmu.edu/~motionplanning/lecture/Chap4-Potential-Field_howie.pdf) Real-Time Obstacle Avoidance for Manipulators and Mobile Robots * [Hybrid A*: ](https://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf) Practical Search Techniques in Path Planning for Autonomous Driving ### Sampling-based Planning * [RRT: ](http://msl.cs.uiuc.edu/~lavalle/papers/Lav***c.pdf) Rapidly-Exploring Random Trees: A New Tool for Path Planning * [RRT-Connect: ](http://www-cgi.cs.cmu.edu/afs/cs/academic/class/15494-s12/readings/kuffner_icra2000.pdf) RRT-Connect: An Efficient Approach to Single-Query Path Planning * [Extended-RRT: ](http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.1.7617&rep=rep1&type=pdf) Real-Time Randomized Path Planning for Robot Navigation * [Dynamic-RRT: ](https://www.ri.cmu.edu/pub_files/pub4/ferguson_david_2006_2/ferguson_david_2006_2.pdf) Replanning with RRTs * [RRT*: ](https://journals.sagepub.com/doi/abs/10.1177/02783***911406761) Sampling-based algorithms for optimal motion planning * [Anytime-RRT*: ](https://dspace.mit.edu/handle/1721.1/63170) Anytime Motion Planning using the RRT* * [Closed-loop RRT* (CL-RRT*): ](http://acl.mit.edu/papers/KuwataTCST09.pdf) Real-time Motion Planning with Applications to Autonomous Urban Driving * [Spline-RRT*: ](https://ieeexplore.ieee.org/abstract/document/6***7895?casa_token=B9GUwVDbbncAAAAA:DWscGFLIa97ptgH7NpUQUL0A2ModiiBDBGklk1z7aDjI11Kyfzo8rpuFstdYcjOofJfCjR-mNw) Optimal path planning based on spline-RRT* for fixed-wing UAVs operating in three-dimensional environments * [LQR-RRT*: ](https://lis.csail.mit.edu/pubs/perez-icra12.pdf) Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics * [RRT#: ](http://dcsl.gatech.edu/papers/icra13.pdf) Use of Relaxation Methods in Sampling-Based Algorithms for Optimal Motion Planning * [RRT*-Smart: ](http://save.seecs.nust.edu.pk/pubs/ICMA2012.pdf) Rapid convergence implementation of RRT* towards optimal solution * [Informed RRT*: ](https://arxiv.org/abs/1404.2334) Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal heuristic * [Fast Marching Trees (FMT*): ](https://arxiv.org/abs/1306.3532) a Fast Marching Sampling-Based Method for Optimal Motion Planning in Many Dimensions * [Motion Planning using Lower Bounds (MPLB): ](https://ieeexplore.ieee.org/document/7139773) Asymptotically-optimal Motion Planning using lower bounds on cost * [Batch Informed Trees (BIT*): ](https://arxiv.org/abs/1405.5848) Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs * [Advanced Batch Informed Trees (ABIT*): ](https://arxiv.org/abs/2002.06589) Sampling-Based Planning with Advanced Graph-Search Techniques ((ICRA) 2020) * [Adaptively Informed Trees (AIT*): ](https://arxiv.org/abs/2002.06599) Fast Asymptotically Optimal Path Planning through Adaptive Heuristics ((ICRA) 2020)

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