View Code? Open in Web Editor
NEW
This project forked from hanma97/biriskrrt
Validate the Efficacy of BiRiskRRT
biriskrrt's Introduction
-
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.
-
/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')
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
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 |
Results (Only Dynamic Obstacles)
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 |
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 |
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 |
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 |
|
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 |
|
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 |
|
biriskrrt's People
Contributors