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Space Exploration Algorithms for Providing Heuristic to Path Planners

Project description

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:

  1. 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)

How to install


$ pip install pySEA

From source

$ git clone
$ cd pySEA
$ python 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.

Project details

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