Introduction

Motion planning plans the state sequence of the robot without conflict between the start and goal.

Motion planning mainly includes Path planning and Trajectory planning.

• Path Planning: It's based on path constraints (such as obstacles), planning the optimal path sequence for the robot to travel without conflict between the start and goal.
• Trajectory planning: It plans the motion state to approach the global path based on kinematics, dynamics constraints and path sequence.

This repository provides the implementations of common Motion planning algorithms. Your stars and forks are welcome. Maintaining this repository requires a huge amount of work. Therefore, you are also welcome to contribute to this repository by opening issues, submitting pull requests or joining our development team.

The theory analysis can be found at motion-planning.

We also provide ROS C++ version and Matlab version.

Quick Start

Overview

The file structure is shown below

python_motion_planning
├─assets
├─docs
├─examples
└─python_motion_planning
    ├─global_planner
    |   ├─graph_search
    |   ├─sample_search
    |   └─evolutionary_search
    ├─local_planner
    ├─curve_generation
    └─utils
        ├─agent
        ├─environment
        ├─helper
        ├─planner
        └─plot

• The global planning algorithm implementation is in the folder global_planner with graph_search, sample_search and evolutionary search.
• The local planning algorithm implementation is in the folder local_planner.
• The curve generation algorithm implementation is in the folder curve_generation.

Dependencies

The code was tested in python=3.10. To install other dependencies, please run the following command in shell.

pip install -r requirements.txt

Run

Below are some simple examples.

1. Run planning and animation separately

import python_motion_planning as pmp
planner = pmp.AStar(start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
cost, path, expand = planner.plan()
planner.plot.animation(path, str(planner), cost, expand)  # animation

2. Run planning and animation in one step

import python_motion_planning as pmp
planner = pmp.AStar(start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
planner.run()       # run both planning and animation

3. Create planner in factory mode

import python_motion_planning as pmp
search_factory = pmp.SearchFactory()
planner = search_factory("a_star", start=(5, 5), goal=(45, 25), env=pmp.Grid(51, 31))
planner.run()       # run both planning and animation

More examples can be found in the folder examples. You can also refer to the examples in the documentations generated using the following method.

Documentation

This repository also support auto-generated documentation using mkdocs. Enter the root directory and run

python generate_mkdocs.py
mkdocs serve

Then open the browser and go to http://127.0.0.1:8000. That is the generated documentation.

Version

Global Planner

Planner	Version	Animation
GBFS
Dijkstra
A*
JPS
D*
LPA*
D* Lite
Theta*
Lazy Theta*
S-Theta*
Anya
Voronoi
RRT
RRT*
Informed RRT
RRT-Connect
ACO
GA
PSO

Local Planner

Planner	Version	Animation
PID
APF
DWA
RPP
LQR
TEB
MPC
MPPI
Lattice
DDPG

Curve Generation

Planner	Version	Animation
Polynomia
Bezier
Cubic Spline
BSpline
Dubins
Reeds-Shepp
Fem-Pos Smoother

Papers

Global Planning

• A*: A Formal Basis for the heuristic Determination of Minimum Cost Paths
• JPS: Online Graph Pruning for Pathfinding On Grid Maps
• Lifelong Planning A*: Lifelong Planning A*
• D*: Optimal and Efficient Path Planning for Partially-Known Environments
• D* Lite: D* Lite
• Theta*: Theta*: Any-Angle Path Planning on Grids
• Lazy Theta*: Lazy Theta*: Any-Angle Path Planning and Path Length Analysis in 3D
• S-Theta*: S-Theta*: low steering path-planning algorithm
• Anya: Optimal Any-Angle Pathfinding In Practice
• RRT: Rapidly-Exploring Random Trees: A New Tool for Path Planning
• RRT-Connect: RRT-Connect: An Efficient Approach to Single-Query Path Planning
• RRT*: Sampling-based algorithms for optimal motion planning
• Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal heuristic
• ACO: Ant Colony Optimization: A New Meta-Heuristic

Local Planning

• DWA: The Dynamic Window Approach to Collision Avoidance
• APF: Real-time obstacle avoidance for manipulators and mobile robots
• RPP: Regulated Pure Pursuit for Robot Path Tracking
• DDPG: Continuous control with deep reinforcement learning

Curve Generation

• Dubins: On curves of minimal length with a constraint on average curvature, and with prescribed initial and terminal positions and tangents

Acknowledgment

• Our visualization and animation framework of Python Version refers to https://github.com/zhm-real/PathPlanning. Thanks sincerely.