DWA

python_motion_planning.local_planner.dwa.DWA

Bases: LocalPlanner

Class for Dynamic Window Approach(DWA) motion planning.

Parameters:

Name	Type	Description	Default
start	tuple	start point coordinate	required
goal	tuple	goal point coordinate	required
env	Env	environment	required
heuristic_type	str	heuristic function type	'euclidean'
heading_weight	float	weight for heading cost	0.2
obstacle_weight	float	weight for obstacle cost	0.1
velocity_weight	float	weight for velocity cost	0.05
predict_time	float	predict time for trajectory	1.5
obstacle_inflation_radius	float	inflation radius for obstacles	1.0
v_resolution	float	velocity resolution in evaulation	0.05
w_resolution	float	angular velocity resolution in evaulation	0.05
**params		other parameters can be found in the parent class LocalPlanner	{}

Examples:

Python Console Session

>>> from python_motion_planning.utils import Grid
>>> from python_motion_planning.local_planner import DWA
>>> start = (5, 5, 0)
>>> goal = (45, 25, 0)
>>> env = Grid(51, 31)
>>> planner = DWA(start, goal, env)
>>> planner.run()

References

[1] The Dynamic Window Approach to Collision Avoidance.

calDynamicWin()

Calculate dynamic window.

Returns:

Name	Type	Description
v_reference	list	reference velocity

evaluation(vr, goal)

Extract the path based on the CLOSED set.

Parameters:

Name	Type	Description	Default
closed_set	list	CLOSED set	required
goal	tuple	goal point coordinate	required

Returns:

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

generateTraj(v, w)

Generate predict trajectory.

Parameters:

Name	Type	Description	Default
v	float	velocity	required
w	float	angular velocity	required

Returns:

Name	Type	Description
v_reference	ndarray	reference velocity

plan()

Dynamic Window Approach(DWA) motion plan function.

run()

Running both plannig and animation.