/fiss_plus_planner

[IROS 2023] FISS+: Efficient and Focused Trajectory Generation and Refinement using Fast Iterative Search and Sampling Strategy

Primary LanguagePythonApache License 2.0Apache-2.0

FISS+ Planner

[IROS 2023] FISS+: Efficient and Focused Trajectory Generation and Refinement using Fast Iterative Search and Sampling Strategy

Ubuntu Python CodeFactor GitHub Repo stars GitHub Repo forks

drawing drawing drawing

drawing drawing drawing

drawing drawing drawing

Dependencies

  • python>=3.8
  • commonroad==2022.3
  • cvxpy>=1.0.0

Install

We recommend using the anaconda environment

# Clone this repository to a location <PARENT_DIR> (change this part)
cd <PARENT_DIR>
git clone https://github.com/SS47816/fiss_plus_planner
cd fiss_plus_planner
# Create a conda envrionment from the file
conda env create -f environment.yml
conda activate cr
# Export path
export PYTHONPATH=$PYTHONPATH:"<PARENT_DIR>/fiss_plus_planner"

Usage

  1. You may modify the configuration file located at ./cfgs/demo_config.yaml

  2. Run the demo script:

    python3 scripts/demo_cr.py

    The result of each scenario will be save as a separate .gif file under the specified ouput directory (./data/output/gif/)

Contribution

You are welcome contributing to the package by opening a pull-request

We are following: Google Python Style Guide

License

Licensed under Apache License 2.0