sequential-manifold-planning's Introduction

sequential-manifold-planning

Supplemental code of the Planning on Sequenced Manifolds (PSM*) algorithm proposed in http://www.roboticsproceedings.org/rss17/p039.html

Usage

Install required python packages

pip install -r requirements.txt

Run planner

python run_planner.py

Compare planner

python run_comparison.py

Algorithms

PSM* psm/algorithms/psm.py
PSM* (Single Tree) psm/algorithms/psm_single_tree.py
PSM* (Greedy) psm/algorithms/psm_greedy.py
CBIRRT psm/algorithms/cbirrt.py
RRT*+IK psm/algorithms/ik_rrt_star.py
Random MMP psm/algorithms/random_mmp.py

Results

3D Point w/o obstacles

               Success  Path length    Comp. time
PSM            10 / 10  14.47\pm 0.04  10.64\pm 0.16
PSMSingleTree  10 / 10  14.47\pm 0.05  13.72\pm 0.18
PSMGreedy      10 / 10  16.20\pm 0.05  10.36\pm 0.10
IKRRTStar      10 / 10  17.84\pm 2.23  28.35\pm 13.50
CBIRRT         10 / 10  14.70\pm 0.71  5.04\pm 0.30
RandomMMP      10 / 10  17.33\pm 1.28  34.75\pm 17.21
-------------  -------  -------------  --------------

3D Point w/ obstacles

                      Success  Path length    Comp. time
PSM                   10 / 10  15.95\pm 0.13  13.74\pm 0.51
PSMSingleTree         10 / 10  15.87\pm 0.18  20.42\pm 0.86
PSMGreedy             10 / 10  19.69\pm 0.27  12.89\pm 0.51
IKRRTStar             10 / 10  21.56\pm 3.05  30.21\pm 7.55
CBIRRT                10 / 10  16.66\pm 1.34  3.34\pm 0.25
RandomMMP             10 / 10  22.15\pm 2.20  42.09\pm 17.22
--------------------  -------  -------------  --------------

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