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.

The theory analysis can be found at motion-planning.

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

This repository provides the implementations of common Motion planning algorithms. Your stars and forks are welcome. Submitting pull requests or joining our development team are also welcome. For trivial modification, please directly contribute to dev branch. For big modification, please contact us before you contribute.

Quick Start

Overview

The source file structure is shown below

python_motion_planning
├─common
|   ├─env
|   |   ├─map
|   |   ├─robot
|   |   └─world
|   ├─utils
|   └─visualizer
├─controller
|   └─path_tracker
├─path_planner
|   ├─graph_search
|   └─sample_search
└─curve_generation

Install

(Optional) The code was tested in python=3.10, though other similar versions should also work. We recommend using conda to install the dependencies.

conda create -n pmp python=3.10
conda activate pmp

To install the repository, please run the following command in shell.

pip install python-motion-planning==2.0.dev1

Run

Please refer to the Tutorials part of online documentation.

Demos

Path Planner

Planner	2D Grid	3D Grid
GBFS	Implemented in V1.1.1, not migrated	Not implemented
Dijkstra
A*
JPS	Implemented in V1.1.1, not migrated	Not implemented
D*	Implemented in V1.1.1, not migrated	Not implemented
LPA*	Implemented in V1.1.1, not migrated	Not implemented
D* Lite	Implemented in V1.1.1, not migrated	Not implemented
Theta*
Lazy Theta*	Implemented in V1.1.1, not migrated	Not implemented
S-Theta*	Implemented in V1.1.1, not migrated	Not implemented
Anya	Not implemented	Not implemented
Voronoi	Implemented in V1.1.1, not migrated	Not implemented
RRT
RRT*
Informed RRT	Implemented in V1.1.1, not migrated	Not implemented
RRT-Connect	Implemented in V1.1.1, not migrated	Not implemented
ACO	Implemented in V1.1.1, not migrated	Not implemented
GA	Implemented in V1.1.1, not migrated	Not implemented
PSO	Implemented in V1.1.1, not migrated	Not implemented

Controller

We provide a toy simulator with simple physical simulation to test controllers (path-trakcers). The toy simulator supports multi-agents/multi-robots. The available robots include CircularRobot (Omnidirectional) and DiffDriveRobot (Only support moving forward and backward). Currently only 2D simulator is provided. 3D simulator has not been implemented.

In the following demos, the blue robot 1 is the CircularRobot, and the orange robot 2 is the DiffDriveRobot.

Planner	2D	3D
Path Trakcer		Not implemented
Pure Pursuit		Not implemented
PID		Not implemented
APF		Not implemented
DWA		Not implemented
RPP	Implemented in V1.1.1, not migrated	Not implemented
LQR	Implemented in V1.1.1, not migrated	Not implemented
MPC	Implemented in V1.1.1, not migrated	Not implemented
MPPI	Not implemented	Not implemented
TEB	Not implemented	Not implemented
Lattice	Not implemented	Not implemented
DQN	Not implemented	Not implemented
DDPG	Implemented in V1.0, not migrated	Not implemented

Curve Generator

The visualization of the curve generators has not been implemented in current version. They can be visualized in V1.1.1.

Planner	2D	3D
Polynomia		Not implemented
Bezier		Not implemented
Cubic Spline		Not implemented
BSpline		Not implemented
Dubins		Not implemented
Reeds-Shepp		Not implemented
Fem-Pos Smoother		Not implemented

Contact

Long-term maintainers:

• @omigeft (Wu Maojia)
• @ai-winter (Yang Haodong)

You can contact us via the information provided on our profile.