chomp

An implementation of some methods described in the CHOMP paper: https://www.ri.cmu.edu/pub_files/2013/5/CHOMP_IJRR.pdf

Installation Instructions

Running at least Python 3.6.3, run pip install requirements.txt I highly recommend using a virtualenv for this.

Testing

Use pytest to execute the tests in test_src.

Running Instructions

To run the comparison between straight-line initialized CHOMP vs. RRT initialized CHOMP, run: PYTHONPATH=${PYTHONPATH}:PATH/TO/REPO/chomp python3 experiments/exp1.py --vis For example, I run: PYTHONPATH=${PYTHONPATH}:~/GitRepo/chomp python3 experiments/exp1.py --vis Note that this will not show a visualization until the end of the optimization process.

To run the visualization of the optimization process for CHOMP, run: PYTHONPATH=${PYTHONPATH}:PATH/TO/REPO/chomp python3 vis_src/vis_scenario1.py While this does show the visualization during optimization, it hangs significantly, so I suggest waiting until optimization succeeds or fails to pan around. A successful optimization will show the "spaceship" moving along the path from start to goal.

To run a visualization of the simple RRT, run: PYTHONPATH=${PYTHONPATH}:PATH/TO/REPO/chomp python3 vis_src/vis_rrt.py

Demo

Find demo videos of planned paths here.