mirror of
https://github.com/zhm-real/PathPlanning.git
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zhm-real
115 lines
3.4 KiB
Python
115 lines
3.4 KiB
Python
import env
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import plotting
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import numpy as np
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import math
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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 RRT:
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def __init__(self, xI, xG):
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self.xI = Node(xI)
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self.xG = Node(xG)
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self.expand_len = 0.4
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self.goal_sample_rate = 0.05
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self.iterations = 5000
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self.node_list = [self.xI]
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self.env = env.Env()
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self.plotting = plotting.Plotting(xI, xG)
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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 = self.planning()
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self.plotting.animation(self.node_list, self.path)
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def planning(self):
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for i in range(self.iterations):
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node_rand = self.random_state()
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node_near = self.nearest_neighbor(self.node_list, node_rand)
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node_new = self.new_state(node_near, node_rand)
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if not self.check_collision(node_new):
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self.node_list.append(node_new)
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if self.dis_to_goal(self.node_list[-1]) <= self.expand_len:
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self.new_state(self.node_list[-1], self.xG)
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return self.extract_path(self.node_list)
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return None
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def random_state(self):
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if np.random.random() > self.goal_sample_rate:
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return Node((np.random.uniform(self.x_range[0], self.x_range[1]),
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np.random.uniform(self.y_range[0], self.y_range[1])))
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return self.xG
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def nearest_neighbor(self, node_list, n):
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return self.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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node_new = Node((node_start.x, node_start.y))
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dist, theta = self.get_distance_and_angle(node_new, node_end)
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dist = min(self.expand_len, dist)
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node_new.x += dist * math.cos(theta)
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node_new.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, nodelist):
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path = [(self.xG.x, self.xG.y)]
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node_now = nodelist[-1]
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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 dis_to_goal(self, node_cal):
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return math.hypot(node_cal.x - self.xG.x, node_cal.y - self.xG.y)
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def check_collision(self, node_end):
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if node_end is None:
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return True
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for (ox, oy, r) in self.obs_circle:
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if math.hypot(node_end.x - ox, node_end.y - oy) <= r:
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return True
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for (ox, oy, w, h) in self.obs_rectangle:
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if 0 <= (node_end.x - ox) <= w and 0 <= (node_end.y - oy) <= h:
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return True
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for (ox, oy, w, h) in self.obs_boundary:
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if 0 <= (node_end.x - ox) <= w and 0 <= (node_end.y - oy) <= h:
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return True
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return False
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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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if __name__ == '__main__':
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x_Start = (2, 2) # Starting node
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x_Goal = (49, 28) # Goal node
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rrt = RRT(x_Start, x_Goal)
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