RRTStar¶
python_motion_planning.global_planner.sample_search.rrt_star.RRTStar
¶
Bases: RRT
Class for RRT-Star 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
|
r
|
float
|
optimization radius |
10.0
|
goal_sample_rate
|
float
|
heuristic sample |
0.05
|
Examples:
Python Console Session
>>> import python_motion_planning as pmp
>>> planner = pmp.RRTStar((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] Sampling-based algorithms for optimal motion planning