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https://github.com/zhm-real/PathPlanning.git
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zhm-real
81 lines
2.3 KiB
Python
81 lines
2.3 KiB
Python
"""
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Path Planner with B-Spline
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author: Atsushi Sakai (@Atsushi_twi)
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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 scipy.interpolate as scipy_interpolate
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import cubic_spline as cs
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def approximate_b_spline_path(x, y, n_path_points, degree=3):
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t = range(len(x))
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x_tup = scipy_interpolate.splrep(t, x, k=degree)
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y_tup = scipy_interpolate.splrep(t, y, k=degree)
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x_list = list(x_tup)
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x_list[1] = x + [0.0, 0.0, 0.0, 0.0]
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y_list = list(y_tup)
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y_list[1] = y + [0.0, 0.0, 0.0, 0.0]
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ipl_t = np.linspace(0.0, len(x) - 1, n_path_points)
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rx = scipy_interpolate.splev(ipl_t, x_list)
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ry = scipy_interpolate.splev(ipl_t, y_list)
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return rx, ry
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def interpolate_b_spline_path(x, y, n_path_points, degree=3):
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ipl_t = np.linspace(0.0, len(x) - 1, len(x))
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spl_i_x = scipy_interpolate.make_interp_spline(ipl_t, x, k=degree)
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spl_i_y = scipy_interpolate.make_interp_spline(ipl_t, y, k=degree)
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travel = np.linspace(0.0, len(x) - 1, n_path_points)
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return spl_i_x(travel), spl_i_y(travel)
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def main():
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print(__file__ + " start!!")
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# way points
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# way_point_x = [-1.0, 3.0, 4.0, 2.0, 1.0]
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# way_point_y = [0.0, -3.0, 1.0, 1.0, 3.0]
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way_point_x = [-2, 2.0, 3.5, 5.5, 6.0, 8.0]
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way_point_y = [0, 2.7, -0.5, 0.5, 3.0, 4.0]
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sp = cs.Spline2D(way_point_x, way_point_y)
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s = np.arange(0, sp.s[-1], 0.1)
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rx, ry, ryaw, rk = [], [], [], []
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for i_s in s:
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ix, iy = sp.calc_position(i_s)
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rx.append(ix)
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ry.append(iy)
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ryaw.append(sp.calc_yaw(i_s))
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rk.append(sp.calc_curvature(i_s))
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n_course_point = 100 # sampling number
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rax, ray = approximate_b_spline_path(way_point_x, way_point_y,
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n_course_point)
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rix, riy = interpolate_b_spline_path(way_point_x, way_point_y,
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n_course_point)
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# show results
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plt.plot(way_point_x, way_point_y, '-og', label="Control Points")
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plt.plot(rax, ray, '-r', label="Approximated B-Spline path")
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plt.plot(rix, riy, '-b', label="Interpolated B-Spline path")
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plt.plot(rx, ry, color='dimgray', label="Cubic Spline")
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plt.grid(True)
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plt.title("Curves Comparison")
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plt.legend()
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plt.axis("equal")
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plt.show()
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if __name__ == '__main__':
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main()
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