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zhm-real / PathPlanning

Common used path planning algorithms with animations.

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1,765 forks
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Python
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Repository Summary (README)

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Overview

This repository implements some common path planning algorithms used in robotics, including Search-based algorithms and Sampling-based algorithms. We designed animation for each algorithm to display the running process. The related papers are listed in Papers.

Directory Structure

.
└── Search-based Planning
    ├── Breadth-First Searching (BFS)
    ├── Depth-First Searching (DFS)
    ├── Best-First Searching
    ├── Dijkstra's
    ├── A*
    ├── Bidirectional A*
    ├── Anytime Repairing A*
    ├── Learning Real-time A* (LRTA*)
    ├── Real-time Adaptive A* (RTAA*)
    ├── Lifelong Planning A* (LPA*)
    ├── Dynamic A* (D*)
    ├── D* Lite
    └── Anytime D*
└── Sampling-based Planning
    ├── RRT
    ├── RRT-Connect
    ├── Extended-RRT
    ├── Dynamic-RRT
    ├── RRT*
    ├── Informed RRT*
    ├── RRT* Smart
    ├── Anytime RRT*
    ├── Closed-Loop RRT*
    ├── Spline-RRT*
    ├── Fast Marching Trees (FMT*)
    └── Batch Informed Trees (BIT*)
└── Papers

Animations - Search-Based

Best-First & Dijkstra

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/BF.gif" alt="dfs" width="400"/></a></td> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/Dijkstra.gif" alt="dijkstra" width="400"/></a></td> </tr> </table> </div>

A* and A* Variants

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/Astar.gif" alt="astar" width="400"/></a></td> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/Bi-Astar.gif" alt="biastar" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/RepeatedA_star.gif" alt="repeatedastar" width="400"/></a></td> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/ARA_star.gif" alt="arastar" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/LRTA_star.gif" alt="lrtastar" width="400"/></a></td> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/RTAA_star.gif" alt="rtaastar" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/D_star.gif" alt="lpastar" width="400"/></a></td> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/LPAstar.gif" alt="dstarlite" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/ADstar_small.gif" alt="lpastar" width="400"/></a></td> <td><img src="https://github.com/zhm-real/path-planning-algorithms/blob/master/Search_based_Planning/gif/ADstar_sig.gif" alt="dstarlite" width="400"/></a></td> </tr> </table> </div>

Animation - Sampling-Based

RRT & Variants

<div align=right> <table> <tr> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/RRT_2D.gif" alt="value iteration" width="400"/></a></td> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/Goal_biasd_RRT_2D.gif" alt="value iteration" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/RRT_CONNECT_2D.gif" alt="value iteration" width="400"/></a></td> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/Extended_RRT_2D.gif" alt="value iteration" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/Dynamic_RRT_2D.gif" alt="value iteration" width="400"/></a></td> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/RRT_STAR2_2D.gif" alt="value iteration" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/RRT_STAR_SMART_2D.gif" alt="value iteration" width="400"/></a></td> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/FMT.gif" alt="value iteration" width="400"/></a></td> </tr> </table> <table> <tr> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/INFORMED_RRT_STAR_2D3.gif" alt="value iteration" width="400"/></a></td> <td><img src="https://github.com/zhm-real/PathPlanning/blob/master/Sampling_based_Planning/gif/BIT2.gif" alt="value iteration" width="400"/></a></td> </tr> </table> </div>

Papers

Search-base Planning

Sampling-based Planning