Motion planning plans the state sequence of the robot without conflict between the start and goal.

Motion planning mainly includes Path planning and Trajectory planning.

• Path Planning: It's based on path constraints (such as obstacles), planning the optimal path sequence for the robot to travel without conflict between the start and goal.
• Trajectory planning: It plans the motion state to approach the global path based on kinematics, dynamics constraints and path sequence.

This repository provides the implementations of common Motion planning algorithms, including path planners on N-D grid and controllers for path-tracking, a visualizer based on matplotlib and a toy physical simulator to test controllers.

The theory analysis can be found at motion-planning.

We also provide ROS C++ version and Matlab version.

Your stars and forks are welcome!

The source file structure is shown below

python_motion_planning
├─common
|   ├─env
|   |   ├─map
|   |   ├─robot
|   |   └─world
|   ├─utils
|   └─visualizer
├─controller
|   └─path_tracker
├─path_planner
|   ├─graph_search
|   ├─sample_search
|   └─hybrid_search
└─curve_generator

(Optional) The code was tested in python=3.10, though other similar versions should also work. We recommend using conda to install the dependencies.

conda create -n pmp python=3.10
conda activate pmp

To install the repository, please run the following command in shell.

pip install python-motion-planning==2.0.dev2

Please refer to the Tutorials part of online documentation.

Planner	2D Grid	3D Grid
Dijkstra
GBFS
A*
JPS
Theta*
Lazy Theta*
D*	Implemented in V1.1.1, not migrated	Not implemented
LPA*	Implemented in V1.1.1, not migrated	Not implemented
D* Lite	Implemented in V1.1.1, not migrated	Not implemented
Anya	Not implemented	Not implemented

Planner	2D Grid	3D Grid
RRT
RRT*
RRT-Connect
Informed RRT	Implemented in V1.1.1, not migrated	Not implemented
PRM	Not implemented	Not implemented

Planner	2D Grid	3D Grid
Voronoi Planner

We provide a toy simulator with simple physical simulation to test controllers (path-trakcers). The toy simulator supports multi-agents/multi-robots. The available robots include CircularRobot (Omnidirectional) and DiffDriveRobot (Only support moving forward and backward). Currently only 2D simulator is provided. 3D simulator has not been implemented.

In the following demos, the blue robot 1 is the CircularRobot, and the orange robot 2 is the DiffDriveRobot.

Controller	2D	3D
Path Trakcer		Not implemented
Pure Pursuit		Not implemented
PID		Not implemented
APF		Not implemented
DWA		Not implemented
RPP		Not implemented
LQR	Implemented in V1.1.1, not migrated	Not implemented
MPC	Implemented in V1.1.1, not migrated	Not implemented
MPPI	Not implemented	Not implemented
TEB	Not implemented	Not implemented
Lattice	Not implemented	Not implemented
DQN	Not implemented	Not implemented
DDPG	Implemented in V1.0, not migrated	Not implemented

The visualization of the curve generators has not been implemented in current version. They can be visualized in V1.1.1.

Generator	2D	3D
Polynomia		Not implemented
Bezier		Not implemented
Cubic Spline		Not implemented
BSpline		Not implemented
Dubins		Not implemented
Reeds-Shepp		Not implemented
Fem-Pos Smoother		Not implemented

• N-D controllers (path-trackers).

• Path planning for robotic arms.

• Path planning on topological map.

• Application on ROS2.

• Application in mainstream robot simulation environments (e.g. Gazebo, Carla, Airsim, PyBullet, MuJoCo, Issac Sim).

• More mainstream motion planning algorithms.

• Performance optimization.

Contributors are welcome! For trivial modification, please directly contribute to dev branch. For big modification, please contact us before you contribute.

Long-term maintainers:

• @omigeft (Wu Maojia)
• @ai-winter (Yang Haodong)

You can contact us via the information provided on our profile.