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biriskrrt's Introduction

BiRiskRRT

*.py Files Explanation

  • riksrrt.py

    • Implement unidirectional RiskRRT.

  • biriksrrt.py

    • Implement bidirectional RiskRRT (BiRiskRRT) and endow RiskRRT and BiRiskRRT with dynamic planning capability.

  • param.py

    • setup hyper-parameters for the planners.

  • utils.py

    • define the data structures and classes used in the planners.

  • main.py

    • run the planners multiple times and record the statistic results into 'results' folder.

  • result_analysis.py

    • compute and print the mean values and standard errors of the trails conducted by main.py.

Folders Introduction

  • /data

    • This folder stores the data of dynamic pedestrians from different datasets.

  • /maps

    • This folder contains the test maps (.png format).

  • results

    • This folder stores the test results and also the visualizations of the planning processes.
    • /dynamic is for tests with dynamic obstacles (pedestrians).
    • /static is for tests without dynamic obstacles.

Results (Dynamic 'crowds_zara01, crowds_zara02, crowds_zara03')

Map A, 'crowds_zara01'

Items Means Standard Error
Bidirectional time 60.02 42.72
Bidirectional cost 42.55 7.13
Bidirectional Navigation time 30.68 5.43
Unidirectional time 61.9 42.25
Unidirectional cost 45.06 7.05
Navigation time 31.96 5.05

  • Random Trees Visualization

  • Navigation Demo

Map A, 'crowds_zara02'

Items Means Standard Error
Bidirectional time 52.36 43.83
Bidirectional cost 44.17 6.71
Bidirectional Navigation time 32.14 4.88
Unidirectional time 88.5 291.65
Unidirectional cost 45.52 6.63
Navigation time 32.13 4.53

  • Random Trees Visualization

  • Navigation

Map A, 'crowds_zara03'

Items Means Standard Error
Bidirectional time 51.74 35.97
Bidirectional cost 42.71 6.46
Bidirectional Navigation time 30.43 4.18
Unidirectional time 58.41 50.78
Unidirectional cost 44.15 6.0
Navigation time 31.2 3.95

  • Random Trees Visualization

  • Navigation Demo

MapB, ' crowds_zara01'

Items Means Standard Error
Bidirectional time 30.35 18.94
Bidirectional cost 35.19 5.48
Bidirectional Navigation time 26.13 5.34
Unidirectional time 36.29 28.96
Unidirectional cost 34.77 5.1
Navigation time 26.5 4.34

  • Random Trees Visualization

  • Navigation Demo

MapB, ' crowds_zara02'

Items Means Standard Error
Bidirectional time 27.59 35.2
Bidirectional cost 34.09 5.14
Bidirectional Navigation time 24.85 4.44
Unidirectional time 43.58 111.15
Unidirectional cost 34.31 4.57
Navigation time 26.05 3.92

  • Random Trees Visualization

  • Navigation Demo

MapB, ' crowds_zara03'

Items Means Standard Error
Bidirectional time 21.69 26.74
Bidirectional cost 33.51 4.08
Bidirectional Navigation time 25.44 3.97
Unidirectional time 25.8 25.39
Unidirectional cost 32.85 4.13
Navigation time 24.98 2.74

  • Random Trees Visualization

  • Navigation Demo

MapC, ' crowds_zara01'

Items Means Standard Error
Bidirectional time 29.5 28.92
Bidirectional cost 36.61 1.75
Bidirectional Navigation time 25.15 2.11
Unidirectional time 54.04 73.82
Unidirectional cost 36.1 1.95
Navigation time 23.86 1.88

  • Random Trees Visualization

  • Navigation Demo

MapC, ' crowds_zara02'

Items Means Standard Error
Bidirectional time 40.07 119.45
Bidirectional cost 36.38 1.86
Bidirectional Navigation time 25.02 2.52
Unidirectional time 53.68 65.25
Unidirectional cost 36.12 1.69
Navigation time 23.76 1.7

  • Random Trees Visualization

  • Navigation Demo

MapC, ' crowds_zara03'

Items Means Standard Error
Bidirectional time 28.78 23.55
Bidirectional cost 36.78 2.33
Bidirectional Navigation time 25.39 2.83
Unidirectional time 54.79 69.66
Unidirectional cost 36.29 2.05
Navigation time 24.42 2.47

  • Random Trees Visualization

  • Navigation Demo

Results (Only Dynamic Obstacles)

' crowds_zara01'

Items Means Standard Error
Bidirectional time 3.52 3.13
Bidirectional cost 24.53 2.13
Bidirectional Navigation time 18.52 1.5
Unidirectional time 5.28 4.05
Unidirectional cost 25.15 1.91
Navigation time 18.09 1.23

  • Random Trees Visualization

  • Navigation Demo

' crowds_zara02'

Items Means Standard Error
Bidirectional time 1.42 0.99
Bidirectional cost 23.64 0.81
Bidirectional Navigation time 18.02 0.95
Unidirectional time 3.82 3.74
Unidirectional cost 24.61 1.26
Navigation time 17.89 0.98

  • Random Trees Visualization

  • Navigation Demo

' crowds_zara03'

Items Means Standard Error
Bidirectional time 3.61 1.62
Bidirectional cost 25.6 2.43
Bidirectional Navigation time 19.08 1.29
Unidirectional time 5.79 5.66
Unidirectional cost 25.27 1.54
Navigation time 18.22 0.97

  • Random Trees Visualization

  • Navigation Demo

Results (Static)

MapA

Items Means Standard Error
Bidirectional time 19.67 15.18
Bidirectional cost 43.89 6.62
Bidirectional navigation time 30.6 4.28
Unidirectional time 42.44 72.96
Unidirectional cost 44.53 6.74
Navigation time 31.05 3.96
LQR-based time 6.34
LQR-based cost 45.43
LQR-based navigation time 38.62

  • Navigation Demo

  • LQR-based Bi-RRT (Failed):

MapB

Items Means Standard Error
Bidirectional time 8.52 8.44
Bidirectional cost 32.19 3.47
Bidirectional Navigation time 24.18 3.51
Unidirectional time 13.23 13.73
Unidirectional cost 32.94 4.28
Navigation time 24.62 2.83
LQR-based time 2.89
LQR-based cost 36.39
LQR-based navigation time 32.58

  • Navigation Demo

  • LQR-based Bi-RRT (Failed):

MapC

Items Means Standard Error
Bidirectional time 17.33 25.31
Bidirectional cost 36.18 1.59
Bidirectional Navigation time 24.83 2.0
Unidirectional time 31.27 34.08
Unidirectional cost 36.75 1.88
Navigation time 24.36 1.99
LQR-based time 5.93
LQR-based cost 45.19
LQR-based navigation time 35.62

  • Navigation Demo

  • LQR-based Bi-RRT (Failed):

biriskrrt's People

Contributors

hanma97 avatar feimeng93 avatar

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