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PATH PLANNING 2D

Build Status Coverage Status License

About

  • Kapil Rawal - Robotics Engineer. My area of interests are general/aerial robotics, computer vision, and path planning.
  • Email Id: [email protected]

Project Overview

The project is a path planning library for the 2D grid. It has the following features:

  • Ability to add custom 2D BinaryGrid* with start, and goal positions
  • Performs validity check on grid, start and goal
  • Currently, Dijkstra shortest path planning algorithm is used as a planner
  • The library offers flexibility to add new planning algorithms

[*NOTE : 1 for obstacle and 0 for free position]

Overview using the API advanced

The library API provides a wide variety of clean and optimized methods to check for performing complete path planning in the 2D grid. Each method of the path planning library is self sufficient to act as stand-alone function. The functions offer zero memory leaks(verified from Valgrind outputs). The API is Doxygen style documented and thus easier to use and understand.

License

This project is under the BSD License.

Development using Solo Iterative Process (SIP) and Test-Driven Development (TDD)

This library has been developed by following the Solo Iterative Process (SIP). Where first a product backlog is created. Then the highest priority tasks TODO list is created and selected. The project backlog, estimated time of completion was allotted to every task and based on actual completion time and estimated time, modified future tasks time.

After planning is completed, the UML flow and UML class diagram are developed for the software. Based on these diagrams the unit tests are written. Then the stub classes are written for the matching unit test cases.

You can take a look at the SIP log details, containing product backlog, time log, error log, and release backlog by going on this LINK

Dependencies

The project requires the following dependenices:

  • Gcc 7.5.0
  • Boost
  • Googletest
  • CMake 3.10.2
  • Ubuntu 18.04

Program installation

git clone --recursive https://github.com/krawal19/path_planning_2d.git
cd path_planning_2d
mkdir build
cd build
cmake ..
make

Run program: ./src/pathPlanning

Running tests via command line

To check the tests you can run the following command.

Run program: ./test/pathPlanningTest

Instructions

The current program version(*see note below) has a pre-specified 2d grid, start, and goal. To test your own start/goal or grid follow the steps below:

  • Open the main.cpp file under /path_planning_2d/src folder in your favorite editor.
  • The following fields should be modified for your input
  1. For 2D grid, Modify 1 or 0 for adding or removing obstacles and free path
std::vector<std::vector<int>> grid_2d{{0,0,0,0,0}, <--- Here zero represents free path
                                      {0,1,0,0,0}, <--- one represents obstacle
                                      {0,0,0,0,0},
                                      {0,1,0,1,1},
                                      {0,0,0,1,0}};
  1. For start and goal, change fields as shown below for custom start and goal
start.first = 0; // Add start's 1st index
start.second = 0; // Add start's 2nd index
goal.first = 4; // Add goal's 1st index
goal.second = 4; // Add goal's 2nd index
  • Once the fields have been modified following the steps below to build and run the code in terminal
cd path_planning_2d
mkdir build (skip if build folder already present)
cd build
cmake ..
make

Run program: ./src/pathPlanning
  • Running the program will print output as follows:
  1. Here the grid used is
{{0,0,0,0,0},
 {0,1,0,0,0},
 {0,0,0,0,0},
 {0,1,0,1,1},
 {0,0,0,1,0}}
  1. If the path exists between start and goal
Path found between start: (0, 0), Goal: (2, 4)
(0, 0) (0, 1) (0, 2) (1, 3) (2, 4)
  1. If no path found
No Path found between start: (0, 0), Goal: (4, 4)
  1. For invalid grid, start, goal and Obstacle
Grid not valid!

Start not valid!

Goal not valid!

On obstacle, start/goal invalid!

[*NOTE: The input feature for the grid, start and goal will come in the next version]

Checking local code Coverage

To check local code coverage you can run following command and then opening the index.html file generated in the build/coverage,from the web browser.

sudo apt-get install lcov
cmake -D COVERAGE=ON -D CMAKE_BUILD_TYPE=Debug ../
make
make code_coverage