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PathPlanning-MATLAB

Single robot path planning algorithms implemented in MATLAB. Including heuristic search and incremental heuristic search methods.

(Procedural programming)

2 1

Methods

  • A* (can turn into Dijkstra by changing the heuristic function)
  • LPA*(Life Long Planning A*)
  • D*Lite (With Optimized Version)

Run

  • Go into the methods directory.
  • Run the RUN_[Methods_name].m file
    • AStar/RUN_Astar.m
    • LPAStar/RUN_LPAstar.m
    • DStarLite/RUN_DstarLite.m

General

Apart from each path planning method's directory, there are two general directories:

  • common: common functionalities used in all planning methods
  • models: functions for creating and saving models (configurations).

Common Settings

can change this setting in the RUN_[method].m file

  • distance type: Model.distType ('euclidean' or 'manhattan')
  • distance type: Model.adjType ('4adj' or '8adj')
  • expansion method: Model.expandMethod
    • 'random': onlly based on distance cost
    • 'heading': based on distance and heading
  • create_model_method: 'from_map_file', 'from_samples', 'from_custom'

Configuration - Models

Initial configuration includes:

  • Map (free nodes)
  • obstacles (occupied nodes)
  • robot's start node
  • robot's goal node
  • ...

There are three methods to create initial configuration (model):

  • from_map_file: from a map.mat file (square matrix, 0: occupied, 1: free)
  • from_samples: from a list of ready samples
  • from_custom: from createModelBase.m file which you can edit and customize

You can set the method in the RUN_p[method].m file.

To change the configuration in from_custom method, you can edit the createModelBase.m file in models directory.

A*

Includes final path modification (green path in the simulation pictures).

Simulations

A*

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LPA* and D*Lite

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Resources

  • Koenig, S., & Likhachev, M. (2002, July). D* lite. In Eighteenth national conference on Artificial intelligence (pp. 476-483).
  • E. Khanmirza, M. Haghbeigi, M. Nazarahari and S. Doostie, "A Comparative Study of Deterministic and Probabilistic Mobile Robot Path Planning Algorithms," 2017 5th RSI International Conference on Robotics and Mechatronics (ICRoM) Link