Heurisp

(What is it) A repository of Python2 implemented Heuristics for Sampling-based Path (Motion) Planner (HSP).

Currently, it includes these heuristics:

1. Orientation-Aware Space Exploration (OSE, referred to ¹). It is one of the state-of-the-art heuristics according to ².

How to use

• Orientation-Aware Space Exploration (Details included in test/test.py)

from heurisp import OrientationSpaceExplorer as OSExplorer
# see test directory for details to set arguments.
explorer = OSExplorer()
explorer.initialize(start, goal, grid_map, grid_res, grid_ori)
explorer.exploring()

How to install

• PyPI

$ pip2 install heurisp

• From source

$ git clone https://github.com/liespace/pyHSP.git
$ cd pyHSP
$ python setup.py sdist
# install
$ pip install heurisp -f dist/* --no-cache-dir
# or upload yours
# $ twine upload dist/*

Reference

Footnotes

1. Chen, Chao, Markus Rickert, and Alois Knoll. "Path planning with orientation-aware space exploration guided heuristic search for autonomous parking and maneuvering." 2015 IEEE Intelligent Vehicles Symposium (IV). IEEE, 2015. ↩

2. Banzhaf, Holger, et al. "Learning to predict ego-vehicle poses for sampling-based nonholonomic motion planning." IEEE Robotics and Automation Letters 4.2 (2019): 1053-1060. ↩