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https://github.com/zhm-real/PathPlanning.git
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zhm-real
84 lines
2.8 KiB
Python
84 lines
2.8 KiB
Python
# this is the three dimensional N>1 LRTA* algo
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# !/usr/bin/env python3
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# -*- coding: utf-8 -*-
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"""
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@author: yue qi
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"""
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import numpy as np
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import matplotlib.pyplot as plt
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import os
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import sys
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sys.path.append(os.path.dirname(os.path.abspath(__file__)) + "/../../Search-based Planning/")
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from Search_3D.env3D import env
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from Search_3D import Astar3D
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from Search_3D.utils3D import getDist, getRay, StateSpace, Heuristic, getNearest, isCollide, hash3D, dehash, \
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cost, obstacleFree
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from Search_3D.plot_util3D import visualization
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import queue
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class LRT_A_star2:
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def __init__(self, resolution=0.5, N=7):
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self.N = N
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self.Astar = Astar3D.Weighted_A_star(resolution=resolution)
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self.path = []
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def updateHeuristic(self):
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# Initialize hvalues at infinity
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for strxi in self.Astar.CLOSED:
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self.Astar.h[strxi] = np.inf
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Diff = True
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while Diff: # repeat DP until converge
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hvals, lasthvals = [], []
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for strxi in self.Astar.CLOSED:
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xi = dehash(strxi)
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lasthvals.append(self.Astar.h[strxi])
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# update h values if they are smaller
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Children = self.Astar.children(xi)
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minfval = min([cost(xi, xj, settings=0) + self.Astar.h[hash3D(xj)] for xj in Children])
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# h(s) = h(s') if h(s) > c(s,s') + h(s')
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if self.Astar.h[strxi] >= minfval:
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self.Astar.h[strxi] = minfval
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hvals.append(self.Astar.h[strxi])
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if lasthvals == hvals: Diff = False
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def move(self):
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strst = self.Astar.x0
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st = self.Astar.start
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ind = 0
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# find the lowest path down hill
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while strst in self.Astar.CLOSED: # when minchild in CLOSED then continue, when minchild in OPEN, stop
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# strChildren = self.children(st)
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strChildren = [hash3D(i) for i in self.Astar.children(st)]
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minh, minchild = np.inf, None
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for child in strChildren:
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h = self.Astar.h[child]
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if h <= minh:
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minh, minchild = h, dehash(child)
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self.path.append([st, minchild])
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strst, st = hash3D(minchild), minchild
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for (_, strp) in self.Astar.OPEN.enumerate():
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if strp == strst:
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break
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ind += 1
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if ind > 1000:
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break
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self.Astar.reset(st)
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def run(self):
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while True:
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if self.Astar.run(N=self.N):
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self.Astar.Path = self.Astar.Path + self.path
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self.Astar.done = True
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visualization(self.Astar)
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plt.show()
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break
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self.updateHeuristic()
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self.move()
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if __name__ == '__main__':
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T = LRT_A_star2(resolution=0.5, N=150)
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T.run()
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