zhm-real/PathPlanning
PathPlanning
PathPlanning is a library of animated path planning algorithms that includes implementations of A-star, Dijkstra, RRT, and spline-based trajectory generation for both 2D and 3D environments. The project provides a collection of motion planning algorithms that demonstrate how robots can find collision-free paths through continuous spaces, with each algorithm rendered as a step-by-step visual animation to show how the search or tree grows over time.
The library covers three main categories of path planning: sampling-based methods like RRT, RRT-star, and BIT-star that grow trees by randomly sampling configuration space; search-based methods including A-star, Dijkstra, and D-star Lite that compute optimal routes through known environments using heuristic graph search; and trajectory generation techniques that produce smooth, continuous curves using Bezier, B-spline, cubic spline, Dubins, or polynomial interpolation. These algorithms can operate in both two-dimensional and three-dimensional spaces, with the tree-building algorithms adjusting their sampling and collision-checking dimensions accordingly.
The project includes a step-by-step animation engine that renders each algorithm iteration as a visual frame, making it possible to observe how different planning methods explore space and converge toward a solution. The library also provides spline-based path smoothing capabilities for generating continuous, differentiable curves from waypoints.
Features
- Path Planning Algorithms - Provides a comprehensive library of animated path planning algorithms for 2D and 3D environments.
- Multi-Dimensional Tree Growth - Grows RRT trees in both 2D and 3D spaces for robotic motion planning.
- Configuration Space Samplers - Implements configuration space sampling for collision detection in path planning algorithms.
- Dijkstra Implementations - Implements Dijkstra's algorithm for computing shortest paths in weighted graphs.
- 3D RRT Implementations - Implements 3D Rapidly-exploring Random Tree path planning for robotic motion planning.
- Sampling-Based Planners - Implements RRT, RRT-star, and BIT-star algorithms for sampling-based path planning in continuous spaces.
- 3D RRT Implementations - Implements 3D Rapidly-exploring Random Tree path planning for robotic motion planning.
- RRT Implementations - Implements Rapidly-exploring Random Tree algorithm for sampling-based motion planning.
- Heuristic Graph Search Algorithms - Implements heuristic graph search algorithms like A-star and D-star Lite for optimal pathfinding.
- A-Star Search - Implements A-star heuristic search algorithm for finding shortest paths through known environments.
- Heuristic Search Planners - Implements A-star and D-star Lite algorithms for heuristic graph-search path planning in known environments.
- Path Planning Algorithms - Ships Dijkstra and D-star Lite implementations for classic graph-search path planning.
- 2D RRT Implementations - Implements 2D Rapidly-exploring Random Tree path planning for robotic navigation.
- Configuration Space Samplers - Generates paths by randomly sampling configuration space with RRT, RRT-star, and BIT-star algorithms.
- Random-Sampling Tree Expansion - Grows trees by randomly sampling configuration space for RRT and RRT-star algorithms.
- 2D RRT Implementations - Implements 2D Rapidly-exploring Random Tree path planning for collision-free navigation.
- Algorithm Animations - Provides animated visual playback of motion planning algorithm exploration and convergence.
- Algorithm Visualizations - Provides step-by-step animated visualizations of path planning algorithm execution for educational understanding.
- Navigation Curve Generators - Creates smooth navigation curves using Bezier, B-spline, cubic spline, and Dubins curves.
- Spline Trajectory Generators - Generates smooth navigation curves using Bezier, B-spline, cubic spline, Dubins, and polynomial interpolation.
- Spline Interpolators - Generates smooth, differentiable curves from waypoints using spline interpolation for navigation.
- Algorithm Visualizations - Provides animated visualizations of path planning algorithm exploration and convergence.
- Algorithm Iteration Animators - Provides step-by-step visual playback of path planning algorithm exploration and convergence.
