python无人机路径规划算法_RRT算法在Python中的实现,快速,拓展,随机,树

"""

《基于智能优化与RRT算法的无人机任务规划方法研究》博士论文

《基于改进人工势场法的路径规划算法研究》硕士论文

"""

import matplotlib.pyplot as plt

import random

import math

import copy

show_animation = True

class Node(object):

"""

RRT Node

"""

def __init__(self, x, y):

self.x = x

self.y = y

self.parent = None

class RRT(object):

"""

Class for RRT Planning

"""

def __init__(self, start, goal, obstacle_list, rand_area):

"""

Setting Parameter

start:Start Position [x,y]

goal:Goal Position [x,y]

obstacleList:obstacle Positions [[x,y,size],...]

randArea:random sampling Area [min,max]

"""

self.start = Node(start[0], start[1])

self.end = Node(goal[0], goal[1])

self.min_rand = rand_area[0]

self.max_rand = rand_area[1]

self.expandDis = 1.0

self.goalSampleRate = 0.05 # 选择终点的概率是0.05

self.maxIter = 500

self.obstacleList = obstacle_list

self.nodeList = [self.start]