Path planning

A set of path planners for robots operating in planar environments with configuration $\mathit{q}\in {\mathbb{R}}^2$ or $\mathit{q}\in {\mathbb{R}}^2\times S^1\sim \mathbf{SE}(2)$. 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	$\mathbf{SE}(2)$	discrete	yes
DubinsPlanner	$\mathbf{SE}(2)$	continuous	no
ReedsSheppPlanner	$\mathbf{SE}(2)$	continuous	no
CurvaturePolyPlanner	$\mathbf{SE}(2)$	continuous	no
QuinticPolyPlanner	$\mathbf{SE}(2)$	continuous	no
RRTPlanner	$\mathbf{SE}(2)$	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