What's changed?
- A framework for repeated replanning of RRT-based algorithms in the case of collisions with dynamic obstacles was implemented
- Benchmark scripts for the corresponding paper were created, comparing different performance metrics between TA-PRM*, TA-PRM, RRT, and RRT*.
- A script to load results from previous benchmarks has been added
- Graphs can now be saved to and loaded from files
- Illustration scripts have been implemented to create images and videos for a demonstration scenario
- Minor fixes and enhancements
Detailed Changes / PRs
- feat: add script for RRT versions with constant replanning by @sjschlapbach in #36
- refactor: extract RRT Replanner to separate class for evaluations by @sjschlapbach in #37
- feat: introduce benchmarking with increasing number of samples and obstacles by @sjschlapbach in #38
- enhance: add possibility to load benchmark results from file by @sjschlapbach in #39
- enhance: extend benchmark with pruning workflow by @sjschlapbach in #40
- fix: ensure that pruning benchmark results are only saved for successful runs by @sjschlapbach in #41
- fix: ensure that dynamic line collision checking uses subsampling for correct results by @sjschlapbach in #43
- enhance: add illustration script for benchmark scenario by @sjschlapbach in #42
- feat: add possibility to save and load graphs from file by @sjschlapbach in #44
- feat: illustrate algorithm performance in simulation by @sjschlapbach in #45
- Release v1.2.0 by @sjschlapbach in #46
Full Changelog: v1.1.0...v1.2.0
Contributors
sjschlapbach