ADLAB-PLANNING
| main.py # main: Multiple planning, control algorithms available
| utils.py # utils: calculate, tranform, ...
│ test.sh # test: test shell scripts
|
├── conf
│ map_custom.json # conf: complex rectangle road
│ map_easy.json # conf: Re-imple map_easy in informed TRRT Star paper
│ map_hard.json # conf: Re-imple map_hard in informed TRRT Star paper
│ map_medium.json # conf: Re-imple map_medium in informed TRRT Star paper
│
├---control
| adaptive_mpc_controller.py # control: adaptive mpc controller
| base_controller.py # control: base controller
| info_fusion_controller.py # control: pure pursuit + mpc controller (mutual information)
| mpc_mi_controller.py # control: combinate multiple mpc controller (mutual information)
| mpc_controller.py # control: mpc controller
| mpc_parallel_controller.py # control: mpc parallel controller
| multi_purpose_mpc_controller.py # control: multi purpose mpc controller
| pure_pursuit_controller.py # control: pure pursuit controller
| stanley_controller.py # control: stanley controller
|
├---map
| random_grid_map.py # map: random obstacle grid map
| fixed_grid_map.py # map: fixed obstacle grid map
| grid_map.py # map: base grid map
| parking_lot.py # map: parking lot grid map
|
├---results
| map_random_grid_map.png # results: random obstacle grid map
| map_fixed_grid_map.png # results: fixed obstacle grid map
| map_grid_map.png # results: base grid map
| map_parking_lot.png # results: parking lot grid map
|
├---route_planner
| a_star_route_planner.py # route planner: a star
| geometry.py # route planner: Pose, Node Class
| hybrid_a_star_route_planner.py # route planner: hybrid a star
| informed_rrt_star_planner.py # route planner: informed rrt star
| informed_rrt_star_smooth_planner.py # route planner: informed rrt star (smoothing approach)
| informed_trrt_star_planner.py # route planner: informed trrt star
| rrt_star_planner.py # route planner: rrt star
| theta_star_planner.py # route planner: theta star
|
\---test
test_controller.py # test: controller
test_route_planner.py # test: route planner