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.
![Inheritance diagram of roboticstoolbox.mobile.DistanceTransformPlanner, roboticstoolbox.mobile.DstarPlanner, roboticstoolbox.mobile.DubinsPlanner, roboticstoolbox.mobile.ReedsSheppPlanner, roboticstoolbox.mobile.QuinticPolyPlanner, roboticstoolbox.mobile.CurvaturePolyPlanner, roboticstoolbox.mobile.RRTPlanner](_images/inheritance-694e9854245418d2b0f60f121fc0018f38bc6119.png)
Planner |
Plans in |
Discrete/Continuous |
Obstacle avoidance |
---|---|---|---|
\(\mathbb{R}^2\) |
discrete |
yes |
|
\(\mathbb{R}^2\) |
discrete |
yes |
|
\(\mathbb{R}^2\) |
discrete |
yes |
|
\(\mathbb{R}^2\) |
continuous |
yes |
|
\(\SE{2}\) |
discrete |
yes |
|
\(\SE{2}\) |
continuous |
no |
|
\(\SE{2}\) |
continuous |
no |
|
\(\SE{2}\) |
continuous |
no |
|
\(\SE{2}\) |
continuous |
no |
|
\(\SE{2}\) |
continuous |
yes |