mte544-project

Grad Project for MTE544

Authors: Somesh Daga and Aidan Keaveny

Usage

If setting up for the first time, follow these instructions to run the demos:

1. Install python dependencies:

   • If using conda (install + activate environment):

       conda create env -f environment.yml
       conda activate mte544-project
     

   • If using pip (requires python 2.7):

       pip install -r requirements.txt
     

2. Navigate to the working directory of the scripts:

    cd PathPlanning
   

Configurations

Configurations for the different scripts/modules are managed through the config.ini file

Main Scripts

Run all scripts from the PathPlanning directory

generate_path.py

This script creates MVB Curves in a 2D Gridmap

plot_from_pickle.py

This script plots MVB curves and derived characteristics, stored in pickle files

FrenetOptimalTrajectory/frenet_optimal_trajectory.py

This script performs the local planning using the Frenet planner, using splines loaded from pickle files. Special thanks to https://arxiv.org/abs/1808.10703 for providing a great starting point for the source code.