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Python implementations of several robotic motion planners

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motion-planners

Flexible python implementations of several robotic motion planners.

Citation

Caelan Reed Garrett. Motion Planners. https://github.com/caelan/motion-planners. 2017.

Example

A simple motion planning problem in 2D workspace and 2D configuration space that only depends on Tkinter.

motion-planners$ python -m motion_planners.tkinter.run

Algorithms

Single-Query

Sampling-Based:

Grid Search

Other

Multi-Query

Sampling-based:

API

Each motion planner takes as input python functions that perform its primitive operations, allowing them to be flexibly used in many software environments.

  • :param distance_fn: Distance function - distance_fn(q1, q2)->float
  • :param sample_fn: Sample function - sample_fn()->conf
  • :param extend_fn: Extension function - extend_fn(q1, q2)->[q', ..., q"]
  • :param collision_fn: Collision function - collision_fn(q)->bool

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