Python sample codes for robotics algorithm.

• Requirements
• Path Planning
  • Dijkstra grid search
  • A star grid search
  • Model Predictive Trajectory Generator
    • Path optimization sample:
    • Lookup table generation sample:
  • State Lattice Planning
    • Uniform polar sampling results:
    • Biased polar sampling results:
    • Lane sampling results:
  • Rapidly-Exploring Random Trees (RRT)
    • Basic RRT
    • RRT*
    • RRT with dubins path planner
    • RRT* with dubins path
    • RRT* with reeds-sheep path
    • Closed Loop RRT*
  • Cubic spline planning
  • Dubins path planning
  • Reeds Shepp planning
  • Mix Integer Optimization based model predictive planning and control
• Path tracking
  • Pure pursuit tracking
  • Rear wheel feedback control
  • Linear–quadratic regulator (LQR) control
• License
• Author

• numpy

• scipy

• matplotlib

• pyReedsShepp (Only for reeds sheep path and RRTStarCar_reeds_sheep)

• cvxpy (Only for mix integer optimization based model predictive planning and control)

Path planning algorithm.

This is a 2D grid based shortest path planning with Dijkstra's algorithm.

In the animation, cyan points are searched nodes.

This is a 2D grid based shortest path planning with A star algorithm.

In the animation, cyan points are searched nodes.

It's heuristic is 2D Euclid distance.

This script is a path planning code with model predictive trajectory generator.

see:

• Optimal rough terrain trajectory generation for wheeled mobile robots

This script is a path planning code with state lattice planning.

This code uses the model predictive trajectory generator to solve boundary problem.

Rapidly Randamized Tree Path planning sample.

This script is a simple path planning code with Rapidly-Exploring Random Trees (RRT)

This script is a path planning code with RRT *

• Incremental Sampling-based Algorithms for Optimal Motion Planning

Path planning for a car robot with RRT and dubins path planner.

Path planning for a car robot with RRT* and dubins path planner.

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Path planning for a car robot with RRT* and reeds sheep path planner.

A sample code with closed loop RRT*.

see:

• Motion Planning in Complex Environments using Closed-loop Prediction

• Real-time Motion Planning with Applications to Autonomous Urban Driving

• [1601.06326] Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction

A sample code for cubic path planning.

This code generates a curvature continious path based on x-y waypoints with cubic spline.

Heading angle of each point can be also calculated analytically.

A sample code for Dubins path planning.

Dubins path - Wikipedia

A sample code with Reeds Shepp path planning.

A model predictive planning and control code with mixed integer programming.

It is based on this paper.

• MIXED INTEGER PROGRAMMING FOR MULTI-VEHICLE PATH PLANNING

This code used cvxpy as optimization modeling tool,

• Welcome to CVXPY 1.0 — CVXPY 1.0.0 documentation

and Gurobi is used as a solver for mix integer optimization problem.

• Gurobi Optimization - The State-of-the-Art Mathematical Programming Solver

Path tracking algorithm samples.

Path tracking simulation with pure pursuit steering control and PID speed control.

Path tracking simulation with rear wheel feedback steering control and PID speed control.

Path tracking simulation with LQR steering control and PID speed control.

MIT

Atsushi Sakai (@Atsushi_twi)