Flexible python implementations of several robotic motion planners.
Caelan Reed Garrett. Motion Planners. https://github.com/caelan/motion-planners. 2017.
A simple motion planning problem in 2D workspace and 2D configuration space that only depends on Tkinter.
motion-planners$ python -m motion_planners.tkinter.run
Sampling-Based:
Grid Search
Other
Each motion planner takes as input python functions that perform its primitive operations, allowing them to be flexibly used in many software environments.
distance_fn
: Distance function - distance_fn(q1, q2)->floatsample_fn
: Sample function - sample_fn()->confextend_fn
: Extension function - extend_fn(q1, q2)->[q', ..., q"]collision_fn
: Collision function - collision_fn(q)->bool