https://github.com/dsaurus/pathplanning

https://github.com/dsaurus/pathplanning

Last synced: 10 days ago
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• Host: GitHub
• URL: https://github.com/dsaurus/pathplanning
• Owner: DSaurus
• Created: 2020-12-26T17:15:23.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2020-12-27T15:01:51.000Z (over 5 years ago)
• Last Synced: 2025-02-22T18:29:25.657Z (over 1 year ago)
• Language: Python
• Size: 235 KB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: readme.md

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README

          
# Path Planning

![](https://raw.githubusercontent.com/DSaurus/PathPlanning/master/vehicle.png)

![](https://raw.githubusercontent.com/DSaurus/PathPlanning/master/result/route3/test.jpg)

The planning requirements are as follows:

- minimize the length of the planned path as much as possible;

- vehicle must avoid all obstacles;

- vehicle must clean all "rubbishes"

- the turning angle of the vehicle should not be larger than 36 degree.

## Installation

```

pip install -r requirements.txt

cd clib

python setup.py build install

```

## How to Run?

### Dynamic Programming

Use `g++` to compile `dp.cpp` and it is directly executable.

### Optimization

To run the optimization for path planning:

```

sh run.sh

```

## Result

There are some results in the `result` folder, each folder contain two files. `checkpoint.txt` includes the optimized sample points and `test.jpg` visualizes the vehicle path.