RRTConnect

python_motion_planning.global_planner.sample_search.rrt_connect.RRTConnect

Bases: RRT

Class for RRT-Connect motion planning.

Parameters:

Name	Type	Description	Default
start	tuple	start point coordinate	required
goal	tuple	goal point coordinate	required
env	Env	environment	required
max_dist	float	Maximum expansion distance one step	0.5
sample_num	int	Maximum number of sample points	10000
goal_sample_rate	float	heuristic sample	0.05

Examples:

Python Console Session

>>> import python_motion_planning as pmp
>>> planner = pmp.RRTConnect((5, 5), (45, 25), pmp.Map(51, 31))
>>> cost, path, expand = planner.plan()     # planning results only
>>> planner.plot.animation(path, str(planner), cost, expand)  # animation
>>> planner.run()       # run both planning and animation

References

[1] RRT-Connect: An Efficient Approach to Single-Query Path Planning

extractPath(boundary, sample_list_b, sample_list_f)

Extract the path based on the CLOSED set.

Parameters:

Name	Type	Description	Default
boundary	Node	the boundary node	required
sample_list_b	dict	Sample list backward	required
sample_list_f	dict	Sample list forward	required

Returns:

Name	Type	Description
cost	float	the cost of planning path
path	list	the planning path

getExpand(sample_list_b, sample_list_f)

Get the expand list from sample list.

Parameters:

Name	Type	Description	Default
sample_list_b	list	Sample list backward	required
sample_list_f	list	Sample list forward	required

Returns:

Name	Type	Description
expand	list	expand list

plan()

RRT-Connected motion plan function.

Returns:

Name	Type	Description
cost	float	path cost
path	list	planning path
expand	list	expanded (sampled) nodes list