ai-winter / ros_motion_planning

Motion planning and Navigation of AGV/AMR:ROS planner plugin implementation of A*, JPS, D*, LPA*, D* Lite, Theta*, RRT, RRT*, RRT-Connect, Informed RRT*, ACO, PSO, Voronoi, PID, LQR, MPC, DWA, APF, Pure Pursuit etc.
GNU General Public License v3.0
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add QuickInformedRRT* #81

Closed realhonbo closed 5 months ago

realhonbo commented 5 months ago

Added the following items :

  1. adaptive sampling bias strategy
  2. priority sampling circle set based on the path obtained from each update
  3. parallel rewiring process
  4. adaptive step size expansion

How to use it : We provide the following four options : prior_circle_set_r : suggest 5.0 to 15.0 In the figure below, blue circles C1~C7 are sampled first, and this value controls the radius of the circle

set

step_extend_d : increased distance of adaptive extend step size, we suggest the value between half and one times sample_max_d. rewire_threads_num : number of threads used to accelerate rewire process t_distr_freedom : choose your algorithm more aggressive or conservative in optimizing. If the value is relatively small, the algorithm will be more conservative and exploratory, but at the same time, the degree of optimization may decrease.