yue qi
aaba8e355c
Merge branch 'master' of github.com:zhm-real/path-planning-algorithms
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пре 5 година | |
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| .idea | пре 5 година | |
| Model-free Control | пре 5 година | |
| Sampling-based Planning | пре 5 година | |
| Search-based Planning | пре 5 година | |
| Stochastic Shortest Path | пре 5 година | |
| LICENSE | пре 5 година | |
| README.md | пре 5 година |
README.md
Directory Structure
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└── Search-based Planning
└── Search_2D
├── bfs.py # breadth-first searching
├── dfs.py # depth-first searching
├── dijkstra.py # dijkstra's
├── a_star.py # A*
├── bidirectional_a_star.py # Bidirectional A*
├── ARAstar.py # Anytime Reparing A*
├── IDAstar.py # Iteratively Deepening A*
├── LRTAstar.py # Learning Real-time A*
├── RTAAstar.py # Real-time Adaptive A*
├── LPAstar.py # Lifelong Planning A*
├── D_star.py # D* (Dynamic A*)
├── Anytime_D_star.py # Anytime D*
└── D_star_Lite.py # D* Lite
└── Search_3D
├── Astar3D.py # A*_3D
├── bidirectional_Astar3D.py # Bidirectional A*_3D
├── RTA_Astar3D.py # Real-time Adaptive A*_3D
└── LRT_Astar3D.py # Learning Real-time A*_3D
└── Sampling-based Planning
└── rrt_2D
├── rrt.py # rrt : goal-biased rrt
└── rrt_star.py
└── rrt_3D
├── rrt3D.py # rrt3D : goal-biased rrt3D
└── rrtstar3D.py
└── Stochastic Shortest Path
├── value_iteration.py # value iteration
├── policy_iteration.py # policy iteration
├── Q-value_iteration.py # Q-value iteration
└── Q-policy_iteration.py # Q-policy iteration
└── Model-free Control
├── Sarsa.py # SARSA : on-policy TD control
└── Q-learning.py # Q-learning : off-policy TD control
Animations - Search-Based
Best-First & Dijkstra
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A* and A* Variants
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Animation - Sampling-Based
RRT & Variants
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Value/Policy/Q-value/Q-policy Iteration
- Brown: losing states
SARSA(on-policy) & Q-learning(off-policy)
- Brown: losing states
Papers
Search-base Planning
- D*: Optimal and Efficient Path Planning for Partially-Known Environments
- Lifelong Planning A*: Lifelong Planning A*
- Anytime Repairing A*: ARA: Anytime A with Provable Bounds on Sub-Optimality
- D* Lite: D* Lite
- Field D*: Field D*: An Interpolation-based Path Planner and Replanner
- Anytime D*: Anytime Dynamic A*: An Anytime, Replanning Algorithm
- Focussed D*: The Focussed D* Algorithm for Real-Time Replanning
- Potential Field, [PPT]: Real-Time Obstacle Avoidance for Manipulators and Mobile Robots
- Hybrid A*: Practical Search Techniques in Path Planning for Autonomous Driving
Sampling-based Planning
- RRT: Rapidly-Exploring Random Trees: A New Tool for Path Planning
- RRT-Connect: RRT-Connect: An Efficient Approach to Single-Query Path Planning
- Extended-RRT: Real-Time Randomized Path Planning for Robot Navigation
- Dynamic-RRT: Replanning with RRTs