mirror of
https://github.com/zhm-real/PathPlanning.git
synced 2026-08-30 00:50:46 +08:00
391311qy
80 lines
2.8 KiB
Python
80 lines
2.8 KiB
Python
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"""
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This is rrt star code for 3D
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@author: yue qi
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"""
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import numpy as np
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from numpy.matlib import repmat
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from env3D import env
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from collections import defaultdict
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import pyrr as pyrr
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from utils3D import getDist, sampleFree, nearest, steer, isCollide, near, visualization, cost, path
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import time
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class rrtstar():
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def __init__(self):
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self.env = env()
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self.Parent = defaultdict(lambda: defaultdict(dict))
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self.V = []
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self.E = []
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self.i = 0
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self.maxiter = 10000
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self.stepsize = 0.5
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self.Path = []
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def wireup(self,x,y):
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self.E.append([x,y]) # add edge
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self.Parent[str(x[0])][str(x[1])][str(x[2])] = y
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def removewire(self,xnear):
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xparent = self.Parent[str(xnear[0])][str(xnear[1])][str(xnear[2])]
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a = np.array([xnear,xparent])
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self.E = [xx for xx in self.E if not (xx==a).all()] # remove and replace old the connection
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def run(self):
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self.V.append(self.env.start)
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ind = 0
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xnew = self.env.start
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while ind < self.maxiter and getDist(xnew,self.env.goal) > 1:
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xrand = sampleFree(self)
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xnearest = nearest(self,xrand)
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xnew = steer(self,xnearest,xrand)
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if not isCollide(self,xnearest,xnew):
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Xnear = near(self,xnew)
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self.V.append(xnew) # add point
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# visualization(self)
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# minimal path and minimal cost
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xmin,cmin = xnearest,cost(self,xnearest) + getDist(xnearest,xnew)
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# connecting along minimal cost path
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if self.i == 0:
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c1 = cost(self,Xnear) + getDist(xnew,Xnear)
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if not isCollide(self,xnew,Xnear) and c1 < cmin:
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xmin,cmin = Xnear,c1
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self.wireup(xnew,xmin)
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else:
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for xnear in Xnear:
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c1 = cost(self,xnear) + getDist(xnew,xnear)
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if not isCollide(self,xnew,xnear) and c1 < cmin:
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xmin,cmin = xnear,c1
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self.wireup(xnew,xmin)
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# rewire
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for xnear in Xnear:
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c2 = cost(self,xnew) + getDist(xnew,xnear)
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if not isCollide(self,xnew,xnear) and c2 < cost(self,xnear):
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self.removewire(xnear)
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self.wireup(xnear,xnew)
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self.i += 1
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ind += 1
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if getDist(xnew,self.env.goal) <= 1:
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self.wireup(self.env.goal,xnew)
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self.Path,D = path(self)
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print('Total distance = '+str(D))
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visualization(self)
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if __name__ == '__main__':
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p = rrtstar()
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starttime = time.time()
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p.run()
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print('time used = ' + str(time.time()-starttime))
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