ai-winter / python_motion_planning Goto Github PK

Hi, there,

When I was running the example of RRT* star methods, the visualization result has the problem that multiple axes exist at the same time as shown below.

To fix that, a possible solution is:

1. Locate the plotEnv() function at /utlils/plot/plot.py
2. Comment line 54 since it creates another subplot.
3. Change the "ax" from line 57, 66, 75 to "self.ax" to reuse the already existed subplots.

hello，方便推荐一下代码使用到的dubins、reeds_shepp曲线生成方法中公式来源的论文或者博客嘛

Why is the python version of JPS not as efficient as A*?

about JPS , i have ues one point as obstacle, it doesn't work

saying that:
File "F:\ceshi1\python_motion_planning-master\example\global_example.py", line 40, in
planner.run()
File "F:\ceshi1\python_motion_planning-master\global_planner\graph_search\a_star.py", line 143, in run
(cost, path), expand = self.plan()
File "F:\ceshi1\python_motion_planning-master\global_planner\graph_search\jps.py", line 77, in plan
jp = self.jump(node, motion)
File "F:\ceshi1\python_motion_planning-master\global_planner\graph_search\jps.py", line 136, in jump
return self.jump(new_node, motion)
File "F:\ceshi1\python_motion_planning-master\global_planner\graph_search\jps.py", line 136, in jump
return self.jump(new_node, motion)
File "F:\ceshi1\python_motion_planning-master\global_planner\graph_search\jps.py", line 136, in jump
return self.jump(new_node, motion)
[Previous line repeated 989 more times]
File "F:\ceshi1\python_motion_planning-master\global_planner\graph_search\jps.py", line 121, in jump
if new_node == self.goal:
File "F:\ceshi1\python_motion_planning-master\utils\environment\node.py", line 49, in eq
return self.current == node.current
RecursionError: maximum recursion depth exceeded in comparison

Hi, have you done any experiments to find the path by giving the map built in ros to the path planning algorithm under python?It's like feeding this map https://github.com/ai-winter/ros_motion_planning/tree/master/src/sim_env/maps/warehouse to the python version of the rrt algorithm to find the path.