mirror of
https://github.com/zhm-real/PathPlanning.git
synced 2026-08-29 16:40:46 +08:00
zhm-real
261 lines
8.3 KiB
Python
261 lines
8.3 KiB
Python
"""
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DYNAMIC_RRT_2D
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@author: huiming zhou
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"""
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import os
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import sys
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import math
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import numpy as np
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import matplotlib.pyplot as plt
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import matplotlib.patches as patches
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sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
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"/../../Sampling-based Planning/")
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from rrt_2D import env
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from rrt_2D import plotting
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from rrt_2D import utils
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class Node:
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def __init__(self, n):
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self.x = n[0]
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self.y = n[1]
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self.parent = None
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class Edge:
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def __init__(self, n_p, n_c):
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self.parent = n_p
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self.child = n_c
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class DynamicRrt:
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def __init__(self, s_start, s_goal, step_len, goal_sample_rate, waypoint_sample_rate, iter_max):
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self.s_start = Node(s_start)
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self.s_goal = Node(s_goal)
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self.step_len = step_len
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self.goal_sample_rate = goal_sample_rate
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self.waypoint_sample_rate = waypoint_sample_rate
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self.iter_max = iter_max
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self.vertex = [self.s_start]
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self.edges = set()
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self.env = env.Env()
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self.plotting = plotting.Plotting(s_start, s_goal)
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self.utils = utils.Utils()
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self.fig, self.ax = plt.subplots()
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self.x_range = self.env.x_range
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self.y_range = self.env.y_range
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self.obs_circle = self.env.obs_circle
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self.obs_rectangle = self.env.obs_rectangle
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self.obs_boundary = self.env.obs_boundary
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self.path = []
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self.waypoint = []
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def planning(self):
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for i in range(self.iter_max):
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node_rand = self.generate_random_node(self.goal_sample_rate)
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node_near = self.nearest_neighbor(self.vertex, node_rand)
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node_new = self.new_state(node_near, node_rand)
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if node_new and not self.utils.is_collision(node_near, node_new):
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self.vertex.append(node_new)
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dist, _ = self.get_distance_and_angle(node_new, self.s_goal)
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if dist <= self.step_len:
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self.new_state(node_new, self.s_goal)
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path = self.extract_path(node_new)
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self.plot_grid("Extended_RRT")
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self.plot_visited()
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self.plot_path(path)
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self.path = path
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self.waypoint = self.extract_waypoint(node_new)
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self.fig.canvas.mpl_connect('button_press_event', self.on_press)
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plt.show()
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return
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return None
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def on_press(self, event):
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x, y = event.xdata, event.ydata
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if x < 0 or x > 50 or y < 0 or y > 30:
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print("Please choose right area!")
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else:
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x, y = int(x), int(y)
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print("Add circle obstacle at: x =", x, ",", "y =", y)
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self.obs_circle.append([x, y, 2])
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self.utils.update_obs(self.obs_circle, self.obs_boundary, self.obs_rectangle)
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path, waypoint = self.replanning()
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plt.cla()
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self.plot_grid("Extended_RRT")
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self.plot_path(self.path, color='blue')
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self.plot_visited()
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self.plot_path(path)
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self.path = path
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self.waypoint = waypoint
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self.fig.canvas.draw_idle()
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def replanning(self):
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self.vertex = [self.s_start]
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for i in range(self.iter_max):
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node_rand = self.generate_random_node_replanning(self.goal_sample_rate, self.waypoint_sample_rate)
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node_near = self.nearest_neighbor(self.vertex, node_rand)
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node_new = self.new_state(node_near, node_rand)
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if node_new and not self.utils.is_collision(node_near, node_new):
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self.vertex.append(node_new)
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dist, _ = self.get_distance_and_angle(node_new, self.s_goal)
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if dist <= self.step_len:
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self.new_state(node_new, self.s_goal)
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path = self.extract_path(node_new)
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waypoint = self.extract_waypoint(node_new)
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return path, waypoint
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return None
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def generate_random_node(self, goal_sample_rate):
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delta = self.utils.delta
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if np.random.random() > goal_sample_rate:
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return Node((np.random.uniform(self.x_range[0] + delta, self.x_range[1] - delta),
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np.random.uniform(self.y_range[0] + delta, self.y_range[1] - delta)))
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return self.s_goal
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def generate_random_node_replanning(self, goal_sample_rate, waypoint_sample_rate):
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delta = self.utils.delta
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p = np.random.random()
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if p < goal_sample_rate:
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return self.s_goal
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elif goal_sample_rate < p < goal_sample_rate + waypoint_sample_rate:
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return self.waypoint[np.random.randint(0, len(self.path) - 1)]
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else:
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return Node((np.random.uniform(self.x_range[0] + delta, self.x_range[1] - delta),
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np.random.uniform(self.y_range[0] + delta, self.y_range[1] - delta)))
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@staticmethod
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def nearest_neighbor(node_list, n):
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return node_list[int(np.argmin([math.hypot(nd.x - n.x, nd.y - n.y)
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for nd in node_list]))]
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def new_state(self, node_start, node_end):
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dist, theta = self.get_distance_and_angle(node_start, node_end)
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dist = min(self.step_len, dist)
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node_new = Node((node_start.x + dist * math.cos(theta),
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node_start.y + dist * math.sin(theta)))
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node_new.parent = node_start
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return node_new
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def extract_path(self, node_end):
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path = [(self.s_goal.x, self.s_goal.y)]
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node_now = node_end
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while node_now.parent is not None:
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node_now = node_now.parent
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path.append((node_now.x, node_now.y))
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return path
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def extract_waypoint(self, node_end):
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waypoint = [self.s_goal]
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node_now = node_end
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while node_now.parent is not None:
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node_now = node_now.parent
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waypoint.append(node_now)
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return waypoint
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@staticmethod
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def get_distance_and_angle(node_start, node_end):
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dx = node_end.x - node_start.x
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dy = node_end.y - node_start.y
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return math.hypot(dx, dy), math.atan2(dy, dx)
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def plot_grid(self, name):
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for (ox, oy, w, h) in self.obs_boundary:
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self.ax.add_patch(
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patches.Rectangle(
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(ox, oy), w, h,
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edgecolor='black',
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facecolor='black',
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fill=True
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)
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)
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for (ox, oy, w, h) in self.obs_rectangle:
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self.ax.add_patch(
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patches.Rectangle(
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(ox, oy), w, h,
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edgecolor='black',
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facecolor='gray',
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fill=True
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)
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)
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for (ox, oy, r) in self.obs_circle:
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self.ax.add_patch(
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patches.Circle(
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(ox, oy), r,
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edgecolor='black',
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facecolor='gray',
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fill=True
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)
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)
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plt.plot(self.s_start.x, self.s_start.y, "bs", linewidth=3)
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plt.plot(self.s_goal.x, self.s_goal.y, "gs", linewidth=3)
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plt.title(name)
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plt.axis("equal")
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def plot_visited(self):
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animation = True
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if animation:
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count = 0
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for node in self.vertex:
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count += 1
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if node.parent:
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plt.plot([node.parent.x, node.x], [node.parent.y, node.y], "-g")
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plt.gcf().canvas.mpl_connect('key_release_event',
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lambda event:
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[exit(0) if event.key == 'escape' else None])
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if count % 10 == 0:
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plt.pause(0.001)
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else:
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for node in self.vertex:
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if node.parent:
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plt.plot([node.parent.x, node.x], [node.parent.y, node.y], "-g")
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@staticmethod
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def plot_path(path, color='red'):
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plt.plot([x[0] for x in path], [x[1] for x in path], linewidth=2, color=color)
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plt.pause(0.01)
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def main():
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x_start = (2, 2) # Starting node
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x_goal = (49, 24) # Goal node
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drrt = DynamicRrt(x_start, x_goal, 0.5, 0.1, 0.6, 5000)
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drrt.planning()
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if __name__ == '__main__':
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main()
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