Space Exploration Algorithms for Providing Heuristic to Path Planners
SEA (Space Exploration Algorithms)
What is it
A repository of Python2 implemented Space Exploration Algorithms for providing heuristic to sampling-based or searching-based Path Planner.
Currently, it includes these variants:
- Orientation-Aware Space Exploration (OSE, referred to [^1]). It is one of the state-of-the-art algorithms for guiding motion planners, according to [^2].
How to use
from pySEA.explorers import OrientationSpaceExplorer as OSExplorer # see test directory for details to set arguments. explorer = OSExplorer() explorer.initialize(start, goal, grid_map, grid_res, grid_ori) explorer.exploring()
How to install
$ pip install pySEA
$ git clone https://github.com/liespace/pySEA.git $ cd pySEA $ python setup.py sdist # install $ pip install rrts -f dist/* --no-cache-dir # or upload yours $ twine upload dist/*
[^1]: Chen, Chao, Markus Rickert, and Alois Knoll. "Path planning with orientation-aware space exploration guided heuristic search for autonomous parking and maneuvering." 2015 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2015.
[^2]: Banzhaf, Holger, et al. "Learning to predict ego-vehicle poses for sampling-based nonholonomic motion planning." IEEE Robotics and Automation Letters 4.2 (2019): 1053-1060.
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