https://github.com/eliasjof/de3d-nurbs
Science Score: 26.0%
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○Scientific vocabulary similarity
Low similarity (11.1%) to scientific vocabulary
Repository
Basic Info
- Host: GitHub
- Owner: eliasjof
- License: bsd-3-clause
- Language: Python
- Default Branch: master
- Size: 9.91 MB
Statistics
- Stars: 0
- Watchers: 1
- Forks: 0
- Open Issues: 0
- Releases: 0
Metadata Files
README.md
DE3D-NURBS path planner
Welcome to the DE3D-NURBS repository. This project is maintained by Elias Freitas
Table of Contents
Introduction
DE3D-NURBS is a Python-based tool for a novel path planner, considering kinematics constraints, such as the maximum and minimum climb/dive angle and the maximum curvature imposed by an aerial robot. For more details, please take a look at the reference paper.
Cite us
FREITAS, ELIAS J.R.; COHEN, MIRI WEISS ; NETO, ARMANDO ; GUIMARÃES, FREDERICO GADELHA ; PIMENTA, LUCIANO C.A. . DE3D-NURBS: A differential evolution-based 3D path-planner integrating kinematic constraints and obstacle avoidance. KNOWLEDGE-BASED SYSTEMS, v. 1, p. 112084, 2024. DOI: http://dx.doi.org/10.1016/j.knosys.2024.112084
Features
- Generate paths represented by NURBS curves in 3D space
- Novel LSHADE-COP algorithm
Installation
To install DE3D-NURBS, follow these steps:
- Clone the repository:
sh git clone https://github.com/eliasjof/de3dnurbs.git - Navigate to the project directory:
sh cd de3dnurbs - Install the required dependencies:
sh pip install -r requirements.txt
Usage
To use DE3DNURBS, follow these steps:
- Import the
de3dnurbsmodule in your Python script:python import scripts.de3nurbs
Examples
The examples folder contains sample scripts demonstrating how to use the DE3NURBS library, evaluating our path planner.
To run an example script, navigate to the examples folder and execute the script using Python:
sh
python examples/run_algorithms.py
python examples/plot_scenario.py
If SAVE=1 (in examples/__experiment_setup.py), the results of the path planning will be saved in the folder results/.
Sample result
Scenario 5:
Folder Structure
examples/run_algorithms.py: A complete script to run six optimization algorithms with our planner.examples/plot_scenario.py: A plotting script to visualize the results.scripts/: This folder contains the code used for our planner and the LSHADE-COP algorithm.results/: This folder contains the results obtained by the path-planner
Info
Owner
- Login: eliasjof
- Kind: user
- Repositories: 1
- Profile: https://github.com/eliasjof
GitHub Events
Total
- Push event: 1
Last Year
- Push event: 1
Dependencies
- geomdl *
- joblib *
- matplotlib *
- mealpy *
- numpy *
- pandas *
- scipy *