RRTs

(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 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/*

Reference

Footnotes

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). ↩