gennav 0.1.1

Python Package for Robot Navigation Algorithms

GenNav

Status: Under Development

A Python Package for Robot navigation algorithms.

Installation

The package is currently under development so we suggest installing from source.

From Source (Recommended)

git clone https://github.com/ERC-BPGC/gennav.git
cd gennav
python -m pip install .

Using pip

pip install gennav

Usage

To plan a path using the Rapidly-exploring random tree algorithm in a polygon based environment representation.

from gennav import planners, envs, utils
from gennav.utils import RobotState
from gennav.utils.geometry import Point
from gennav.utils.samplers import uniform_random_sampler as sampler


obstacles = []
env = envs.PolyEnv()
env.update(obstacles)

start = RobotState(position=Point(1, 1))
goal = RobotState(position=Point(10, 10))

palnner = RRT(sample_area=(-5, 15), sampler=sampler, expand_dis=0.1)
path = palnner.plan(start, goal, env)

Note that the environment have been left blank empty here, they should be updated as per use case.

For more details you can refer to our documentation.

Contributions

Contributions are always welcome. We reccomend you check out contribution guidelines and view the docs beforehand.