wenbo9045/fiss_plus_planner

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

FISS+ Planner

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

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