orku / BiRiskRRT

Validate the Efficacy of BiRiskRRT

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.

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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.

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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

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• Navigation Demo

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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

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• Navigation

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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

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• Navigation Demo

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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

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• Navigation Demo

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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

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• Navigation Demo

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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

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• Navigation Demo

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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

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• Navigation Demo

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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

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• Navigation Demo

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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

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• Navigation Demo

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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

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• Navigation Demo

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' 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

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• Navigation Demo

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' 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

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• Navigation Demo

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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

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• LQR-based Bi-RRT (Failed):

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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

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• LQR-based Bi-RRT (Failed):

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MapC

Items	Means	Standard Error
Bidirectional time	17.33	25.31
Bidirectional cost	36.18	1.59
Bidirectional Navigation time	24.83	2.0
Unidirectional time	31.27	34.08
Unidirectional cost	36.75	1.88
Navigation time	24.36	1.99
LQR-based time	5.93
LQR-based cost	45.19
LQR-based navigation time	35.62

• Navigation Demo

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• LQR-based Bi-RRT (Failed):

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