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Simple local planner in Python?

asked 2021-01-04 06:46:23 -0500

ba_tma gravatar image

updated 2022-02-11 08:18:48 -0500

lucasw gravatar image

Hello everybody,

I would like to implement my own local planner using Python for exercise purposes. Therefore, I make no use of move_base and the ROS navigation stack at all and try to implement those parts (localization, global planner, local planner) in Python. Since algorithms like dwa or teb seem pretty advance to me and I am not too experienced in robotics and Python my question is the following: Is there any local planning algorithm in existence that is feasible to implement for beginners? Any 'light weight' versions of the local planners implemented in the ROS navigation stack?

Thanks in advance!

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answered 2021-11-07 04:41:21 -0500

osilva gravatar image

An excellent resource to consider is Python Robotics:

Under Path Planning there are many examples. The examples are as simple as possible primarily in 2D but you can use them as a foundation.

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answered 2021-01-04 14:25:13 -0500

Pure pursuit is a pretty simple one to try out and implement in python. It's all geometric based and could be implemented in < 200 lines for a basic beginner example.

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Asked: 2021-01-04 06:46:23 -0500

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Last updated: Feb 11