https://github.com/hiroishida/diplan-cpp
sampling based planning for double integrator system in c++ (with Python binding)
https://github.com/hiroishida/diplan-cpp
motion-planning planning-algorithms robotics
Last synced: 2 months ago
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sampling based planning for double integrator system in c++ (with Python binding)
- Host: GitHub
- URL: https://github.com/hiroishida/diplan-cpp
- Owner: HiroIshida
- License: mit
- Created: 2023-09-22T15:35:47.000Z (over 1 year ago)
- Default Branch: master
- Last Pushed: 2024-03-08T13:49:40.000Z (about 1 year ago)
- Last Synced: 2024-03-08T14:37:42.297Z (about 1 year ago)
- Topics: motion-planning, planning-algorithms, robotics
- Language: C++
- Homepage:
- Size: 67.4 KB
- Stars: 2
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Kinodynamic sampling based motion planning
This repository implements Fast Marching Tree (FMT) [1] and Rapidly-Exploring Random Tree (RRT) algorithms for a double integrator system. Kinodynamic planning can be complex, as connecting states isn't always straightforward. However, leveraging the nilpotent dynamics of the double integrator, we can easily compute optimal state-to-state connections, as pointed out in [2].
This implementation is essentially a port of my previous Julia implementation, which can be found at https://github.com/HiroIshida/julia_motion_planning. Significant refactoring and bug fixes have been carried out.
build cpp example and run
```bash
git clone [email protected]:HiroIshida/diplan-cpp.git
cd diplan-cpp
git submodule update --init --recursive --recommend-shallow --depth 1
mkdir build && cd build
cmake .. -DWITH_MATPLOTLIB=ON && make -j4
./fmt_example # run
```
build python binding
```bash
git clone [email protected]:HiroIshida/diplan-cpp.git
cd diplan-cpp
git submodule update --init --recursive --recommend-shallow --depth 1
pip3 install -e .
```
[1] Janson, Lucas, et al. "Fast marching tree: A fast marching sampling-based method for optimal motion planning in many dimensions." The International journal of robotics research 34.7 (2015): 883-921.
[2] Webb, Dustin J., and Jur van den Berg. "Kinodynamic RRT*: Optimal motion planning for systems with linear differential constraints." arXiv preprint arXiv:1205.5088 (2012).