release v2.0

config/controller_params/controller.yaml

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+dwa:
+  time_step: 0.1
+  max_iteration: 1700
+  lookahead_time: 1.5
+  min_lookahead_dist: 1.0
+  max_lookahead_dist: 2.5
+  min_v_inc: -1.0
+  max_v_inc: 1.0
+  min_v: 0.0
+  max_v: 0.5
+  min_w_inc: -3.141592653589793
+  max_w_inc: 3.141592653589793
+  min_w: -1.5707963267948966
+  max_w: 1.5707963267948966
+  goal_dist_tol: 0.5
+  rotate_tol: 0.5
+  heading_weight: 0.2
+  obstacle_weight: 0.1
+  velocity_weight: 0.05
+  predict_time: 1.5
+  obstacle_inflation_radius: 1.0
+  v_resolution: 0.05
+  w_resolution: 0.05
+
+apf:
+  time_step: 0.1
+  max_iteration: 1700
+  lookahead_time: 1.5
+  min_lookahead_dist: 1.0
+  max_lookahead_dist: 2.5
+  min_v_inc: -1.0
+  max_v_inc: 1.0
+  min_v: 0.0
+  max_v: 0.5
+  min_w_inc: -3.141592653589793
+  max_w_inc: 3.141592653589793
+  min_w: -1.5707963267948966
+  max_w: 1.5707963267948966
+  goal_dist_tol: 0.5
+  rotate_tol: 0.5
+  zeta: 1.0
+  eta: 1.5
+  d_0: 1.5
+
+rpp:
+  time_step: 0.1
+  max_iteration: 1700
+  lookahead_time: 1.5
+  min_lookahead_dist: 1.0
+  max_lookahead_dist: 2.5
+  min_v_inc: -1.0
+  max_v_inc: 1.0
+  min_v: 0.0
+  max_v: 0.5
+  min_w_inc: -3.141592653589793
+  max_w_inc: 3.141592653589793
+  min_w: -1.5707963267948966
+  max_w: 1.5707963267948966
+  goal_dist_tol: 0.5
+  rotate_tol: 0.5
+  regulated_radius_min: 0.9
+  scaling_dist: 0.6
+  scaling_gain: 1.0
+
+pid:
+  time_step: 0.1
+  max_iteration: 1700
+  lookahead_time: 1.5
+  min_lookahead_dist: 1.0
+  max_lookahead_dist: 2.5
+  min_v_inc: -1.0
+  max_v_inc: 1.0
+  min_v: 0.0
+  max_v: 0.5
+  min_w_inc: -3.141592653589793
+  max_w_inc: 3.141592653589793
+  min_w: -1.5707963267948966
+  max_w: 1.5707963267948966
+  goal_dist_tol: 0.5
+  rotate_tol: 0.5
+
+lqr:
+  time_step: 0.1
+  max_iteration: 1700
+  lookahead_time: 1.5
+  min_lookahead_dist: 1.0
+  max_lookahead_dist: 2.5
+  min_v_inc: -1.0
+  max_v_inc: 1.0
+  min_v: 0.0
+  max_v: 0.5
+  min_w_inc: -3.141592653589793
+  max_w_inc: 3.141592653589793
+  min_w: -1.5707963267948966
+  max_w: 1.5707963267948966
+  goal_dist_tol: 0.5
+  rotate_tol: 0.5
+  Q_diag: [1, 1, 1]
+  R_diag: [1, 1]
+  lqr_iterations: 100
+  lqr_solve_eps: 1.e-1
+
+mpc:
+  time_step: 0.1
+  max_iteration: 1700
+  lookahead_time: 1.5
+  min_lookahead_dist: 1.0
+  max_lookahead_dist: 2.5
+  min_v_inc: -1.0
+  max_v_inc: 1.0
+  min_v: 0.0
+  max_v: 0.5
+  min_w_inc: -3.141592653589793
+  max_w_inc: 3.141592653589793
+  min_w: -0.78
+  max_w: 1.5707963267948966
+  goal_dist_tol: 0.5
+  rotate_tol: 0.5
+  p: 12
+  m: 8
+  Q_diag: [0.8, 0.8, 0.5]
+  R_diag: [2, 2]

config/planner_params/evolutionary_search.yaml

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+pso:
+  heuristic_type: euclidean
+  # number of particles
+  n_particles: 300
+  # number of position points contained in each particle
+  point_num: 5
+  # inertial weight
+  w_inertial: 1.0
+  # cognitive weight
+  w_cognitive: 1.0
+  # social weight
+  w_social: 1.0
+  # The maximum velocity of particle motion
+  max_speed: 6
+  # maximum iterations
+  max_iter: 200
+  # Set the generation mode for the initial position points of the particle swarm (0 for circle and 1 for random)
+  init_mode: 1
+  # show process
+  verbose: true

config/planner_params/path_planner.yaml

@@ -0,0 +1,72 @@
+a_star:
+  heuristic_type: euclidean
+
+dijkstra:
+  heuristic_type: euclidean
+
+gbfs:
+  heuristic_type: euclidean
+
+bi_a_star:
+  heuristic_type: euclidean
+
+theta_star:
+  heuristic_type: euclidean
+
+lazy_theta_star:
+  heuristic_type: euclidean
+
+s_theta_star:
+  heuristic_type: euclidean
+
+jps:
+  heuristic_type: euclidean
+
+voronoi:
+  heuristic_type: euclidean
+  # number of edges from one sampled point
+  n_knn: 4
+  # maximum edge length
+  max_edge_len: 10.0
+  # inflation range
+  inflation_r: 1.0
+
+d_star:
+  heuristic_type: euclidean
+
+lpa_star:
+  heuristic_type: euclidean
+
+d_star_lite:
+  heuristic_type: euclidean
+
+rrt:
+  # Maximum expansion distance one step
+  max_dist: 0.5
+  # Maximum number of sample points
+  sample_num: 10000
+  # heuristic sample ratio for goal
+  goal_sample_rate: 0.05
+  # inflation bias
+  delta: 0.5
+
+rrt_connect:
+  max_dist: 0.5
+  sample_num: 10000
+  goal_sample_rate: 0.05
+  delta: 0.5
+
+rrt_star:
+  max_dist: 0.5
+  sample_num: 10000
+  goal_sample_rate: 0.05
+  delta: 0.5
+  # optimization radius
+  r: 10
+
+informed_rrt:
+  max_dist: 0.5
+  sample_num: 2000
+  goal_sample_rate: 0.05
+  delta: 0.5
+  r: 12