Path planning

A set of path planners for robots operating in planar environments with configuration \(\vec{q} \in \mathbb{R}^2\) or \(\vec{q} \in \mathbb{R}^2 \times S^1 \sim \SE{2}\). All inherit from PlannerBase.

Some planners are based on code from the PathPlanning category of PythonRobotics by Atsushi Sakai.

Planner	Plans in	Discrete/Continuous	Obstacle avoidance
Bug2	\(\mathbb{R}^2\)	discrete	yes
DistanceTransformPlanner	\(\mathbb{R}^2\)	discrete	yes
DstarPlanner	\(\mathbb{R}^2\)	discrete	yes
PRMPlanner	\(\mathbb{R}^2\)	continuous	yes
LatticePlanner	\(\SE{2}\)	discrete	yes
DubinsPlanner	\(\SE{2}\)	continuous	no
ReedsSheppPlanner	\(\SE{2}\)	continuous	no
CurvaturePolyPlanner	\(\SE{2}\)	continuous	no
QuinticPolyPlanner	\(\SE{2}\)	continuous	no
RRTPlanner	\(\SE{2}\)	continuous	yes

• Continuous configuration-space planners
  • PRM planner
  • Dubins path planner
  • Reeds-Shepp path planner
  • Curvature-polynomial planner
  • Quintic-polynomial planner
  • RRT planner
• Discrete (Grid-based) planners
  • Distance transform planner
  • D* planner
  • Lattice planner
• Continuous configuration-space planners
  • Dubins path planner
  • Reeds-Shepp path planner
  • Curvature-polynomial planner
  • Quintic-polynomial planner
  • RRT planner
• Map classes
  • Occupancy grid classes
  • Polygon map
• Supporting classes
  • Planner superclass
  • Occupancy grid base classes