"""
《基于智能优化与RRT算法的无人机任务规划方法研究》博士论文
《基于改进人工势场法的路径规划算法研究》硕士论文
"""
import matplotlib.pyplot as plt
import random
import math
import copy
show_animation = True
class Node(object):
"""
RRT Node
"""
def __init__(self, x, y):
self.x = x
self.y = y
self.parent = None
class RRT(object):
"""
Class for RRT Planning
"""
def __init__(self, start, goal, obstacle_list, rand_area):
"""
Setting Parameter
start:Start Position [x,y]
goal:Goal Position [x,y]
obstacleList:obstacle Positions [[x,y,size],...]
randArea:random sampling Area [min,max]
"""
self.start = Node(start[0], start[1])
self.end = Node(goal[0], goal[1])
self.min_rand = rand_area[0]
self.max_rand = rand_area[1]
self.expandDis = 1.0
self.goalSampleRate = 0.05 # 选择终点的概率是0.05
self.maxIter = 500
self.obstacleList = obstacle_list
self.nodeList = [self.start]
