/SKC

Code for Online evasion using Space Filling curve

Primary LanguagePythonMIT LicenseMIT

This repository hosts code to implement coverage path planning for unstructured environments using Hilbert's Space Filling curve.

Code setup

1. Install Conda using the official website. Conda Installation on Linux.

2. Clone the repository

```
git clone git@github.com:wakodeashay/SKC.git
```

3. Activate the conda environment

```
cd SKC
conda env  create -f environment.yml
```

4. Activate the conda environment a

```
conda activate SKC
```

Run example

1. Run the code

```
python3 main.py
```

2. (Optional) Deactivate the conda

```
conda deactivate SKC
```

Codemap

  • main.py: Script to run examples

  • algorithms: This folder hosts source code for various coverage path planning strategies

  • docs: Plots and Animation are saved here

  • sensors: Hosts sensor model used by coverage path planning strategies

  • workspace: Hosts script to create grid workspace with obstacles

  • environment.yml: Conda environment file