Visibility-based Probabilistic Roadmaps

Description

A 2D simulation in the framework Pygame of the paper Visibility-based Probabilistic Roadmaps for Motion Planning. The environment has 2 non-convex obstacles. Key asspects of the algorithm such as the the number of failures before the insertion of a new guard node can be modified, as well as the total volume of $\mathcal{C}_{free}$ covered by the visibility domains of the nodes.

Nodes

As for the nodes, the guardian nodes $\mathbf{x}_{guard}$ are in color brown, meanwhile the connection nodes $\mathbf{x}_{connect}$ are in color green. The initial node $\mathbf{x}_{init}$ is in color blue, and the goal node $\mathbf{x}_{goal}$ is in color red.

Usage

usage: visibility_prm.py [-h] [-o | --obstacles | --no-obstacles] [-init  [...]] [-goal  [...]] [-srn | --show_random_nodes | --no-show_random_nodes] [-srjn | --show_rejected_nodes | --no-show_rejected_nodes]
                         [-sen | --show_enumerated_nodes | --no-show_enumerated_nodes] [-sve | --show_volume_estimation | --no-show_volume_estimation] [-M] [-kr | --keep_roadmap | --no-keep_roadmap] [-r]

Implements the Visibility PRM algorithm for path planning.

options:
  -h, --help            show this help message and exit
  -o, --obstacles, --no-obstacles
                        Obstacles on the map
  -init  [ ...], --x_init  [ ...]
                        Initial node position in X and Y respectively
  -goal  [ ...], --x_goal  [ ...]
                        Goal node position in X and Y respectively
  -srn, --show_random_nodes, --no-show_random_nodes
                        Show random nodes on screen
  -srjn, --show_rejected_nodes, --no-show_rejected_nodes
                        Show rejected nodes on screen
  -sen, --show_enumerated_nodes, --no-show_enumerated_nodes
                        Show the node enumerated in the order it was sampled
  -sve, --show_volume_estimation, --no-show_volume_estimation
                        Show the volume covered by visibility domains, and the volume not covered yet
  -M , --M              Maximum number of failures before allowed before inserting a new guard node into the roadmap
  -kr, --keep_roadmap, --no-keep_roadmap
                        Keeps the tree while the robot is moving towards the goal
  -r , --radius         Set the robot radius

Examples

Generate obstacles in the map, and enumerate the nodes as they are sampled; all with a maximum number of attempts of $M = 30$

python3 visibility_prm.py --obstacles --show_enumerated_nodes --M 30

Generate obstacles, initial configuration $\mathbf{x}_{init} = (300, 300)$, show the rejected nodes, and enumerate nodes; all with a maximum number of attempts of $M = 15$

python3 visibility_prm.py --obstacles --x_init 300 300 --show_rejected_nodes --show_enumerated_nodes --M 15

License

MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.