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RRTs Planners

Project description


(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

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
$ pip2 install rrts
  • From source
$ git clone
$ cd pyRRTs
$ python2 sdist
# install
$ pip2 install rrts -f dist/* --no-cache-dir
# or upload yours
# $ twine upload dist/*


[^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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rrts-1.1.1.tar.gz (11.3 kB view hashes)

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