https://github.com/erdos-project/hybrid_astar_planner

https://github.com/erdos-project/hybrid_astar_planner

Last synced: 7 months ago
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• Host: GitHub
• URL: https://github.com/erdos-project/hybrid_astar_planner
• Owner: erdos-project
• License: apache-2.0
• Created: 2020-03-22T17:19:11.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2024-02-01T16:08:41.000Z (over 1 year ago)
• Last Synced: 2024-04-22T10:14:04.738Z (about 1 year ago)
• Language: C++
• Size: 3.57 MB
• Stars: 17
• Watchers: 4
• Forks: 19
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

        
# HybridAStar

![HybridAStar Straight](img/straight.gif)

![HybridAStar Straight with Obstacle](img/straight_obstacle.gif)

![HybridAStar Turn](img/turn.gif)

## Overview

This repository contains a C++ implementation of the Hybrid A Star algorithm 

with a Python wrapper. It is used as one of the motion planning models in 

[pylot](https://github.com/erdos-project/pylot), an [erdos](https://github.com/erdos-project) project. 

Reference Paper:

[Practical Search Techniques in Path Planning for Autonomous Driving](https://ai.stanford.edu/~ddolgov/papers/dolgov_gpp_stair08.pdf)

## Profiling

```

Runtime varies heavily with the 'difficulty' of the scenario and the

discretization of search space. For example:

straight (first gif): ~ 1 ms

straight w/ obstacle (second gif): ~ 20 ms

turn w/ obstacle (third gif): ~ 3 s

```

## Setup

```

git clone https://github.com/erdos-project/hybrid_astar_planner.git

./build.sh

```

## Example Usage

There is a Python wrapper and C++ API. The Python wrapper is located in 

`HybridAStar/hybrid_astar_wrapper.py` and the C++ API is under 

`src/HybridAStarWrapper.cpp`.

The following command will simulate a simple scenario to run the HybridAStar planning 

algorithm.

```

python3 HybridAStar/hybrid_astar.py

```