Motion Planning in Python

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An easy-to-use yet efficient motion planning library with focus on providing a modular framework for integrating planning algorithms with machine learning frameworks. The library allows for loading planning environments from png files and currently supports lattice based planning with custom heuristics and cost functions.

Planning Pipeline Overview

The search based planning pipeline looks as follows:

External Dependencies

1. Numpy
2. Matplotlib
3. dubins

Installation

Once you have the external dependencies installed,

Examples

• minimal_astar_example.py: A simple example that loads an environment and runs a 2D astar planner with heuristic weight 1. The details of the parameters used are as follows:

• astar_2d_benchmark_example.py: This script takes as input the relative location of different planning problem databases and number of environments in each database. It then runs a 2d astar planner with changing heuristic weights and stores the results in the benchmark_results folder

API Reference

Benchmark Results

We provide results of benchmarks run on different motion planning datasets. We run A-star with varying the weight on the heuristic function from 0 to 91. A heuristic weight of 0 makes the algorithm equivalent to Dijkstra's Algorithm whereas a higher weight makes the algorithm more greedy. The results reported are average number of expansions on a set of 100 environments for each database.

• A-star 2D Benchmark Results

  Parameters:  graph size                    = 200x200
               connectivity                  = eight-connected
               cost                          = path length
               heuristic                     = Euclidean distance to goal
               collision checking resolution = 1m
  

Heuristic Weight (w)	Alternating Gaps	Single Bugtrap	Shifting Gap	Forest	Bugtrap+Forest	Gaps+Forest	Mazes	Multiple Bugtrap
0	31479	37947	31319	33742	33964	25278	18079	36765
1	17329	13962	13299	12848	18730	20272	12152	20253
11	5393	1138	2479	308	2086	9645	1025	3664
21	5684	1126	2615	305	2014	8895	963	3599
31	5786	1121	2662	304	1903	8666	942	3578
41	5837	1120	2686	301	1890	8552	931	3568
51	5868	1119	2700	301	1882	8487	925	3562
61	5888	1118	2709	300	1878	8445	921	3558
71	5902	1117	2717	300	1875	8414	918	3555
81	5913	1117	2722	300	1873	8391	915	3553
91	5921	1117	2725	300	1871	8372	914	3551

Tests

Contributors

License