update RRT

Sampling-based Planning/rrt_2D/env.py

@@ -15,37 +15,36 @@ class Env:
     @staticmethod
     def obs_boundary():
         obs_boundary = [
-            (0, 0, 1, 30),
-            (0, 30, 50, 1),
-            (1, 0, 50, 1),
-            (50, 1, 1, 30)
-            # (20, 1, 1, 15),
-            # (10, 15, 10, 1),
-            # (30, 15, 1, 15),
-            # (40, 1, 1, 15)
+            [0, 0, 1, 30],
+            [0, 30, 50, 1],
+            [1, 0, 50, 1],
+            [50, 1, 1, 30]
         ]
         return obs_boundary
 
     @staticmethod
     def obs_rectangle():
         obs_rectangle = [
-            (13, 10, 5, 3),
-            (18, 4, 5, 4),
-            (22, 13, 6, 3),
-            (33, 15, 5, 3),
-            (42, 6, 5, 3)
+            [13, 10, 5, 3],
+            [18, 4, 5, 4],
+            [18, 20, 8, 5],
+            [22, 13, 6, 3],
+            [33, 15, 5, 3],
+            [42, 6, 5, 3]
+            # [42, 25, 1, 2],
+            # [45, 23, 2, 1],
+            # [46, 27, 1, 2]
         ]
         return obs_rectangle
 
     @staticmethod
     def obs_circle():
         obs_cir = [
-            (5, 10, 3),
-            (10, 22, 3.5),
-            (21, 23, 3),
-            (34, 9, 4),
-            (37, 23, 3),
-            (45, 20, 2)
+            [5, 10, 3],
+            [10, 22, 3.5],
+            [34, 9, 4],
+            [37, 23, 3],
+            [45, 20, 2]
         ]
 
         return obs_cir

Sampling-based Planning/rrt_2D/plotting.py

@@ -70,12 +70,14 @@ class Plotting:
     @staticmethod
     def plot_visited(nodelist, animation):
         if animation:
+            count = 0
             for node in nodelist:
+                count += 1
                 if node.parent:
                     plt.plot([node.parent.x, node.x], [node.parent.y, node.y], "-g")
                     plt.gcf().canvas.mpl_connect('key_release_event',
                                                  lambda event: [exit(0) if event.key == 'escape' else None])
-                    plt.pause(0.001)
+                    if count % 5 == 0: plt.pause(0.001)
         else:
             for node in nodelist:
                 if node.parent:

Sampling-based Planning/rrt_2D/rrt.py

@@ -13,6 +13,7 @@ sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
 
 from rrt_2D import env
 from rrt_2D import plotting
+from rrt_2D import utils
 
 
 class Node:
@@ -23,16 +24,17 @@ class Node:
 
 
 class Rrt:
-    def __init__(self, x_start, x_goal, expand_len, goal_sample_rate, iter_limit):
+    def __init__(self, x_start, x_goal, step_len, goal_sample_rate, iter_max):
         self.xI = Node(x_start)
         self.xG = Node(x_goal)
-        self.expand_len = expand_len
+        self.step_len = step_len
         self.goal_sample_rate = goal_sample_rate
-        self.iter_limit = iter_limit
+        self.iter_max = iter_max
         self.vertex = [self.xI]
 
         self.env = env.Env()
         self.plotting = plotting.Plotting(x_start, x_goal)
+        self.utils = utils.Utils()
 
         self.x_range = self.env.x_range
         self.y_range = self.env.y_range
@@ -41,25 +43,28 @@ class Rrt:
         self.obs_boundary = self.env.obs_boundary
 
     def planning(self):
-        for i in range(self.iter_limit):
+        for i in range(self.iter_max):
             node_rand = self.random_state(self.goal_sample_rate)
             node_near = self.nearest_neighbor(self.vertex, node_rand)
             node_new = self.new_state(node_near, node_rand)
 
-            if node_new and not self.check_collision(node_new):
+            if node_new and not self.utils.is_collision(node_near, node_new):
                 self.vertex.append(node_new)
                 dist, _ = self.get_distance_and_angle(node_new, self.xG)
 
-                if dist <= self.expand_len:
+                if dist <= self.step_len:
                     self.new_state(node_new, self.xG)
                     return self.extract_path(node_new)
 
         return None
 
     def random_state(self, goal_sample_rate):
+        delta = self.utils.delta
+
         if np.random.random() > goal_sample_rate:
-            return Node((np.random.uniform(self.x_range[0], self.x_range[1]),
-                         np.random.uniform(self.y_range[0], self.y_range[1])))
+            return Node((np.random.uniform(self.x_range[0] + delta, self.x_range[1] - delta),
+                         np.random.uniform(self.y_range[0] + delta, self.y_range[1] - delta)))
+
         return self.xG
 
     def nearest_neighbor(self, node_list, n):
@@ -67,12 +72,11 @@ class Rrt:
                                           for nd in node_list]))]
 
     def new_state(self, node_start, node_end):
-        node_new = Node((node_start.x, node_start.y))
-        dist, theta = self.get_distance_and_angle(node_new, node_end)
+        dist, theta = self.get_distance_and_angle(node_start, node_end)
 
-        dist = min(self.expand_len, dist)
-        node_new.x += dist * math.cos(theta)
-        node_new.y += dist * math.sin(theta)
+        dist = min(self.step_len, dist)
+        node_new = Node((node_start.x + dist * math.cos(theta),
+                        node_start.y + dist * math.sin(theta)))
         node_new.parent = node_start
 
         return node_new
@@ -87,21 +91,6 @@ class Rrt:
 
         return path
 
-    def check_collision(self, node_end):
-        for (ox, oy, r) in self.obs_circle:
-            if math.hypot(node_end.x - ox, node_end.y - oy) <= r:
-                return True
-
-        for (ox, oy, w, h) in self.obs_rectangle:
-            if 0 <= (node_end.x - ox) <= w and 0 <= (node_end.y - oy) <= h:
-                return True
-
-        for (ox, oy, w, h) in self.obs_boundary:
-            if 0 <= (node_end.x - ox) <= w and 0 <= (node_end.y - oy) <= h:
-                return True
-
-        return False
-
     @staticmethod
     def get_distance_and_angle(node_start, node_end):
         dx = node_end.x - node_start.x
@@ -113,11 +102,11 @@ def main():
     x_start = (2, 2)  # Starting node
     x_goal = (49, 28)  # Goal node
 
-    rrt = Rrt(x_start, x_goal, 0.4, 0.05, 2000)
+    rrt = Rrt(x_start, x_goal, 0.6, 0.05, 3000)
     path = rrt.planning()
 
     if path:
-        rrt.plotting.animation(rrt.vertex, path)
+        rrt.plotting.animation(rrt.vertex, path, True)
     else:
         print("No Path Found!")
 

Sampling-based Planning/rrt_2D/rrt_star.py

@@ -13,6 +13,7 @@ sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
 
 from rrt_2D import env
 from rrt_2D import plotting
+from rrt_2D import utils
 
 
 class Node:
@@ -24,18 +25,19 @@ class Node:
 
 
 class RrtStar:
-    def __init__(self, x_start, x_goal, expand_len,
-                 goal_sample_rate, search_radius, iter_limit):
+    def __init__(self, x_start, x_goal, step_len,
+                 goal_sample_rate, search_radius, iter_max):
         self.xI = Node(x_start)
         self.xG = Node(x_goal)
-        self.expand_len = expand_len
+        self.step_len = step_len
         self.goal_sample_rate = goal_sample_rate
         self.search_radius = search_radius
-        self.iter_limit = iter_limit
+        self.iter_max = iter_max
         self.vertex = [self.xI]
 
         self.env = env.Env()
         self.plotting = plotting.Plotting(x_start, x_goal)
+        self.utils = utils.Utils()
 
         self.x_range = self.env.x_range
         self.y_range = self.env.y_range
@@ -44,12 +46,12 @@ class RrtStar:
         self.obs_boundary = self.env.obs_boundary
 
     def planning(self):
-        for k in range(self.iter_limit):
+        for k in range(self.iter_max):
             node_rand = self.random_state(self.goal_sample_rate)
             node_near = self.nearest_neighbor(self.vertex, node_rand)
             node_new = self.new_state(node_near, node_rand)
 
-            if node_new and not self.check_collision(node_new):
+            if node_new and not self.utils.is_collision(node_near, node_new):
                 neighbor_index = self.find_near_neighbor(node_new)
                 if neighbor_index:
                     node_new = self.choose_parent(node_new, neighbor_index)
@@ -59,10 +61,28 @@ class RrtStar:
         index = self.search_goal_parent()
         return self.extract_path(self.vertex[index])
 
+    def check_collision(self, node_end):
+        for (ox, oy, r) in self.obs_circle:
+            if math.hypot(node_end.x - ox, node_end.y - oy) <= r:
+                return True
+
+        for (ox, oy, w, h) in self.obs_rectangle:
+            if 0 <= (node_end.x - ox) <= w and 0 <= (node_end.y - oy) <= h:
+                return True
+
+        for (ox, oy, w, h) in self.obs_boundary:
+            if 0 <= (node_end.x - ox) <= w and 0 <= (node_end.y - oy) <= h:
+                return True
+
+        return False
+
     def random_state(self, goal_sample_rate):
+        delta = self.utils.delta
+
         if np.random.random() > goal_sample_rate:
-            return Node((np.random.uniform(self.x_range[0], self.x_range[1]),
-                         np.random.uniform(self.y_range[0], self.y_range[1])))
+            return Node((np.random.uniform(self.x_range[0] + delta, self.x_range[1] - delta),
+                         np.random.uniform(self.y_range[0] + delta, self.y_range[1] - delta)))
+
         return self.xG
 
     def nearest_neighbor(self, node_list, n):
@@ -70,19 +90,18 @@ class RrtStar:
                                           for nd in node_list]))]
 
     def new_state(self, node_start, node_goal):
-        node_new = Node((node_start.x, node_start.y))
-        dist, theta = self.get_distance_and_angle(node_new, node_goal)
-        dist = min(self.expand_len, dist)
+        dist, theta = self.get_distance_and_angle(node_start, node_goal)
 
-        node_new.x += dist * math.cos(theta)
-        node_new.y += dist * math.sin(theta)
+        dist = min(self.step_len, dist)
+        node_new = Node((node_start.x + dist * math.cos(theta),
+                         node_start.y + dist * math.sin(theta)))
         node_new.parent = node_start
 
         return node_new
 
     def find_near_neighbor(self, node_new):
         n = len(self.vertex) + 1
-        r = min(self.search_radius * math.sqrt((math.log(n) / n)), self.expand_len)
+        r = min(self.search_radius * math.sqrt((math.log(n) / n)), self.step_len)
 
         dist_table = [math.hypot(nd.x - node_new.x, nd.y - node_new.y) for nd in self.vertex]
 
@@ -103,7 +122,7 @@ class RrtStar:
 
     def search_goal_parent(self):
         dist_list = [math.hypot(n.x - self.xG.x, n.y - self.xG.y) for n in self.vertex]
-        node_index = [dist_list.index(i) for i in dist_list if i <= self.expand_len]
+        node_index = [dist_list.index(i) for i in dist_list if i <= self.step_len]
 
         if node_index:
             cost_list = [dist_list[i] + self.vertex[i].cost for i in node_index]
@@ -140,21 +159,6 @@ class RrtStar:
 
         return path
 
-    def check_collision(self, node_end):
-        for (ox, oy, r) in self.obs_circle:
-            if math.hypot(node_end.x - ox, node_end.y - oy) <= r:
-                return True
-
-        for (ox, oy, w, h) in self.obs_rectangle:
-            if 0 <= (node_end.x - ox) <= w and 0 <= (node_end.y - oy) <= h:
-                return True
-
-        for (ox, oy, w, h) in self.obs_boundary:
-            if 0 <= (node_end.x - ox) <= w and 0 <= (node_end.y - oy) <= h:
-                return True
-
-        return False
-
     @staticmethod
     def get_distance_and_angle(node_start, node_end):
         dx = node_end.x - node_start.x
@@ -166,7 +170,7 @@ def main():
     x_start = (2, 2)  # Starting node
     x_goal = (49, 28)  # Goal node
 
-    rrt_star = RrtStar(x_start, x_goal, 1, 0.1, 10, 5000)
+    rrt_star = RrtStar(x_start, x_goal, 1, 0.1, 10, 20000)
     path = rrt_star.planning()
 
     if path:

Sampling-based Planning/rrt_2D/utils.py

@@ -0,0 +1,106 @@
+"""
+utils for collision check
+@author: huiming zhou
+"""
+
+import math
+import numpy as np
+import pyrr
+import os
+import sys
+
+sys.path.append(os.path.dirname(os.path.abspath(__file__)) +
+                "/../../Sampling-based Planning/")
+
+from rrt_2D import env
+from rrt_2D.rrt import Node
+
+
+class Utils:
+    def __init__(self):
+        self.env = env.Env()
+
+        self.delta = 0.2
+        self.obs_circle = self.env.obs_circle
+        self.obs_rectangle = self.env.obs_rectangle
+        self.obs_boundary = self.env.obs_boundary
+        self.obs_vertex = self.get_obs_vertex()
+
+    def get_obs_vertex(self):
+        delta = self.delta
+        obs_list = []
+
+        for (ox, oy, w, h) in self.obs_rectangle:
+            vertex_list = [[ox - delta, oy - delta],
+                           [ox + w + delta, oy - delta],
+                           [ox + w + delta, oy + h + delta],
+                           [ox - delta, oy + h + delta]]
+            obs_list.append(vertex_list)
+
+        return obs_list
+
+    def is_intersect_segment(self, start, end, a, b):
+        o, d = self.get_ray(start, end)
+
+        v1 = [o[0] - a[0], o[1] - a[1]]
+        v2 = [b[0] - a[0], b[1] - a[1]]
+        v3 = [-d[1], d[0]]
+
+        div = np.dot(v2, v3)
+
+        if div == 0:
+            div = 0.01
+
+        t1 = np.linalg.norm(np.cross(v2, v1)) / div
+        t2 = np.dot(v1, v3) / div
+
+        if t1 >= 0 and 0 <= t2 <= 1:
+            shot = Node((o[0] + t1 * d[0], o[1] + t1 * d[1]))
+            dist_obs = self.get_dist(start, shot)
+            dist_seg = self.get_dist(start, end)
+            if dist_obs <= dist_seg:
+                return True
+
+        return False
+
+    def is_collision(self, start, end):
+        if self.is_inside_obs(start) or self.is_inside_obs(end):
+            return True
+
+        for (v1, v2, v3, v4) in self.obs_vertex:
+            if self.is_intersect_segment(start, end, v1, v2) \
+                    or self.is_intersect_segment(start, end, v2, v3) \
+                    or self.is_intersect_segment(start, end, v3, v4) \
+                    or self.is_intersect_segment(start, end, v4, v1):
+                return True
+
+        return False
+
+    def is_inside_obs(self, node):
+        delta = self.delta
+
+        for (x, y, r) in self.obs_circle:
+            if math.hypot(node.x - x, node.y - y) <= r + delta:
+                return True
+
+        for (x, y, w, h) in self.obs_rectangle:
+            if 0 <= node.x - (x - delta) <= w + 2 * delta \
+                    and 0 <= node.y - (y - delta) <= h + 2 * delta:
+                return True
+
+        for (x, y, w, h) in self.obs_boundary:
+            if 0 <= node.x - (x - delta) <= w + 2 * delta \
+                    and 0 <= node.y - (y - delta) <= h + 2 * delta:
+                return True
+
+        return False
+
+    @staticmethod
+    def get_ray(start, end):
+        orig = [start.x, start.y]
+        direc = [end.x - start.x, end.y - start.y]
+        return orig, direc
+
+    @staticmethod
+    def get_dist(start, end):
+        return math.hypot(end.x - start.x, end.y - start.y)