Chrono-STL

Time-Constrained Motion Planning

Installation

To install Chrono-STL, clone the repository and build the project using CMake:

git clone https://github.com/yourusername/chrono-stl.git
cd chrono-stl
mkdir build
cd build
cmake ..
make

Configuration

After building the project files, navigate to the data/config/ directory. You will find two configuration files:

• env.yaml
• planner_config.yaml

These files contain the necessary settings for the environment and planner configurations. Parameters are self explanatory.

Running the Planner

Now to run the planner execute

`./stlplanning`

This will execute the planner type set by config file

After the planner has finished running, to visualize the planner path, navigate to the src folder and run the Python script:

./visualize_planner_data.py

This is will generate a .mp4 video of planner being executed inside the data/results/Type_ depending on what planner was run.

https://ompl.kavrakilab.org/benchmark.html

To view the benchmarking results navigate to - https://plannerarena.org/

Issues

1. Sometime planner just Seg Faults and there are some unknown issues with yaml usage with benchmarking script ( Solution: Replace yaml reading with manaual setting variable in the scripts)

2. Benchmarking script is still incomplete in the sense that input output is fixed and also it might lead to a lot of error and code is there is still a lot of commented code.

3. To visualize planner progress I have added a planner progress property which updates the cost while the planner is running for the benchmarking script to record that data, but it is not working for some reason.

4. Cost Function still needs to be decided, I have tried multiple versions for the same but still need some trial and error.