Guided and Extended Hybrid A*

• Description
• Links
• Citation
• Videos
  • Known and Unknown Environments
  • Advanced motion capabilities
• Setup
• Configuration
  • Sim configuration
  • Library configuration
• Troubleshooting
  • GLFW Error
• Contribute
• Credits

Description

A Hybrid-A* planner with early stopping for efficient path planning.
Further, the capabilities of the U-Shift vehicles can be activated to enable the extended abilities to rotate around its rear axis.

Links

Arxiv Pre-Print: https://arxiv.org/abs/2310.06974
IEE Explore: https://doi.org/10.1109/ITSC57777.2023.10422264

Citation

The paper was published at the IEEE ITSC 2023 and can be cited as stated below.

@INPROCEEDINGS{10422264,
  author={Schumann, Oliver and Buchholz, Michael and Dietmayer, Klaus},
  booktitle={2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC)}, 
  title={Efficient Path Planning in Large Unknown Environments with Switchable System Models for Automated Vehicles}, 
  year={2023},
  volume={},
  number={},
  pages={2466-2472},
  keywords={Adaptation models;Runtime;Navigation;Switches;Path planning;Planning;Standards},
  doi={10.1109/ITSC57777.2023.10422264}}

Videos

Known and Unknown Environments

Advanced motion capabilities

Setup

Clone the repository and update the submodules.

git submodule update --init --recursive                                                      

Change into the docker directory and build the docker image. This may take a while.

cd docker
./build.sh

Run the docker, everything from here will be executed inside it.

./run.sh

Follow the instructions given at the start of the docker

colcon build  
source colcon_build/install/setup.bash
ros2 run freespace_planner simulation.py

Configuration

Sim configuration

src/freespace_planner/ros2/scripts/sim_config/sim_config.yml
The SCENARIO_NAME controls which map to use. ALL_VISIBLE decides if the environment is previously known.

Library configuration

src/freespace_planner/library/config/config.yml  
src/freespace_planner/library/config/params.yml  

Here, all the library params can be adjusted. Some can also be set during runtime in the Gui.

Troubleshooting

GLFW Error

If you receive the error: Could not initialize GLFW! Verify that the DISPLAY variable is set to the same value inside the docker as outside with echo $DISPLAYand set it with e.g. export DISPLAY=:1

Contribute

You are welcome to contribute to every part of this project. Given the fact, that the python part is already planned to be replaced by C++, it would be more beneficial to contribute to the C++ part :)

Credits

The provided repository uses code which was published by other developers. A detailed enumeration can be found here: src/freespace_planner/LICENSES.yaml

• fitpack: spline routines of scipy
• pyReedsShepp: RS Curve generation
• VoronoiDiagramGenerator: Voronoi diagram generation