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BiRiskRRT

Validate the Efficacy of BiRiskRRT

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Install / Use

/learn @HANMA97/BiRiskRRT
About this skill

Quality Score

0/100

Supported Platforms

Universal

README

BiRiskRRT

*.py Files Explanation

  • riksrrt.py

    • Implement unidirectional RiskRRT.

  • biriksrrt.py

    • Implement bidirectional RiskRRT (BiRiskRRT) and endow RiskRRT and BiRiskRRT with dynamic planning capability.

  • param.py

    • setup hyper-parameters for the planners.

  • utils.py

    • define the data structures and classes used in the planners.

  • main.py

    • run the planners multiple times and record the statistic results into 'results' folder.

  • result_analysis.py

    • compute and print the mean values and standard errors of the trails conducted by main.py.

Folders Introduction

  • /data

    • This folder stores the data of dynamic pedestrians from different datasets.

  • /maps

    • This folder contains the test maps (.png format).

  • results

    • This folder stores the test results and also the visualizations of the planning processes.
    • /dynamic is for tests with dynamic obstacles (pedestrians).
    • /static is for tests without dynamic obstacles.

Results (Dynamic 'crowds_zara01, crowds_zara02, crowds_zara03')

Map A, 'crowds_zara01'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 60.02 | 42.72| |Bidirectional cost| 42.55 | 7.13| |Bidirectional Navigation time| 30.68 | 5.43| |Unidirectional time| 61.9 | 42.25| |Unidirectional cost| 45.06| 7.05| |Navigation time| 31.96| 5.05|

  • Random Trees Visualization

  • Navigation Demo

Map A, 'crowds_zara02'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 52.36 | 43.83| |Bidirectional cost| 44.17 | 6.71 | |Bidirectional Navigation time| 32.14 | 4.88| |Unidirectional time| 88.5 | 291.65| |Unidirectional cost| 45.52 | 6.63| |Navigation time| 32.13 | 4.53|

  • Random Trees Visualization

  • Navigation

Map A, 'crowds_zara03'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 51.74 | 35.97| |Bidirectional cost| 42.71 | 6.46| |Bidirectional Navigation time| 30.43 | 4.18| |Unidirectional time| 58.41 | 50.78| |Unidirectional cost| 44.15 | 6.0| |Navigation time| 31.2 | 3.95|

  • Random Trees Visualization

  • Navigation Demo

MapB, ' crowds_zara01'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 30.35 | 18.94 | |Bidirectional cost| 35.19 | 5.48 | |Bidirectional Navigation time| 26.13 | 5.34 | |Unidirectional time| 36.29 | 28.96 | |Unidirectional cost| 34.77 | 5.1 | |Navigation time| 26.5 | 4.34 |

  • Random Trees Visualization

  • Navigation Demo

MapB, ' crowds_zara02'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 27.59 | 35.2 | |Bidirectional cost| 34.09 | 5.14 | |Bidirectional Navigation time| 24.85 | 4.44 | |Unidirectional time| 43.58 | 111.15 | |Unidirectional cost| 34.31 | 4.57 | |Navigation time| 26.05 | 3.92 |

  • Random Trees Visualization

  • Navigation Demo

MapB, ' crowds_zara03'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 21.69 | 26.74 | |Bidirectional cost| 33.51 | 4.08 | |Bidirectional Navigation time| 25.44 | 3.97 | |Unidirectional time| 25.8 | 25.39 | |Unidirectional cost| 32.85 | 4.13 | |Navigation time| 24.98 | 2.74 |

  • Random Trees Visualization

  • Navigation Demo

MapC, ' crowds_zara01'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 29.5 | 28.92 | |Bidirectional cost| 36.61 | 1.75 | |Bidirectional Navigation time| 25.15 | 2.11 | |Unidirectional time| 54.04 | 73.82 | |Unidirectional cost| 36.1 | 1.95 | |Navigation time| 23.86 | 1.88 |

  • Random Trees Visualization

  • Navigation Demo

MapC, ' crowds_zara02'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 40.07 | 119.45 | |Bidirectional cost| 36.38 | 1.86 | |Bidirectional Navigation time| 25.02 | 2.52 | |Unidirectional time| 53.68 | 65.25 | |Unidirectional cost| 36.12 | 1.69 | |Navigation time| 23.76 | 1.7 |

  • Random Trees Visualization

  • Navigation Demo

MapC, ' crowds_zara03'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 28.78 | 23.55 | |Bidirectional cost| 36.78 | 2.33 | |Bidirectional Navigation time| 25.39 | 2.83 | |Unidirectional time| 54.79 | 69.66 | |Unidirectional cost| 36.29 | 2.05 | |Navigation time| 24.42 | 2.47 |

  • Random Trees Visualization

  • Navigation Demo

Results (Only Dynamic Obstacles)

' crowds_zara01'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 3.52 | 3.13 | |Bidirectional cost| 24.53 | 2.13 | |Bidirectional Navigation time| 18.52 | 1.5 | |Unidirectional time| 5.28 | 4.05 | |Unidirectional cost| 25.15 | 1.91 | |Navigation time| 18.09 | 1.23 |

  • Random Trees Visualization

  • Navigation Demo

' crowds_zara02'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 1.42 | 0.99 | |Bidirectional cost| 23.64 | 0.81 | |Bidirectional Navigation time| 18.02 | 0.95 | |Unidirectional time| 3.82 | 3.74 | |Unidirectional cost| 24.61 | 1.26 | |Navigation time| 17.89 | 0.98 |

  • Random Trees Visualization

  • Navigation Demo

' crowds_zara03'

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 3.61 | 1.62 | |Bidirectional cost| 25.6 | 2.43 | |Bidirectional Navigation time| 19.08 | 1.29 | |Unidirectional time| 5.79 | 5.66 | |Unidirectional cost| 25.27 | 1.54 | |Navigation time| 18.22 | 0.97 |

  • Random Trees Visualization

  • Navigation Demo

Results (Static)

MapA

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 19.67 | 15.18 | |Bidirectional cost| 43.89 | 6.62 | |Bidirectional navigation time| 30.6 | 4.28 | |Unidirectional time| 42.44 | 72.96 | |Unidirectional cost| 44.53 | 6.74 | |Navigation time| 31.05 | 3.96 | |LQR-based time| 6.34 || |LQR-based cost| 45.43 | | |LQR-based navigation time| 38.62 | |

  • Navigation Demo

  • LQR-based Bi-RRT (Failed):

MapB

| Items | Means | Standard Error| | ---- | ---- | ---- | |Bidirectional time| 8.52 | 8.44 | |Bidirectional cost| 32.19 | 3.47 | |Bidirectional Navigation time| 24.18 | 3.51 | |Unidirectional time| 13.23 | 13.73 | |Unidirectional cost| 32.94 | 4.28 | |Navigation time| 24.62 | 2.83 | |LQR-based time| 2.89 | | |LQR-based cost| 36.39 | | |LQR-based navigation time| 32.58 | |

  • Navigation Demo

  • LQR-based Bi-RRT (Failed):

    • ![](result

HANMA97

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GitHub Stars19
CategoryDevelopment
Updated7mo ago
Forks5
HANMA97/BiRiskRRT

Languages

Python

Security Score

67/100

Audited on Aug 20, 2025

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