(What is it) A repository of Python2 implemented RRT*-based algorithms for Path (Motion) Planning of Autonomous Driving.
Currently, it includes these variants:
- RRT*[^1], for static environments (parking lots, narrow space).
- 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
$ pip2 install rrts
- From source
$ git clone https://github.com/liespace/pyRRTs.git $ cd pyRRTs $ python2 setup.py 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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