Supplemental code of the Planning on Sequenced Manifolds (PSM*) algorithm proposed in http://www.roboticsproceedings.org/rss17/p039.html
Install required python packages
pip install -r requirements.txt
Run planner
python run_planner.py
Compare planner
python run_comparison.py
- PSM*
psm/algorithms/psm.py - PSM* (Single Tree)
psm/algorithms/psm_single_tree.py - PSM* (Greedy)
psm/algorithms/psm_greedy.py - CBIRRT
psm/algorithms/cbirrt.py - RRT*+IK
psm/algorithms/ik_rrt_star.py - Random MMP
psm/algorithms/random_mmp.py
3D Point w/o obstacles
Success Path length Comp. time
PSM 10 / 10 14.47\pm 0.04 10.64\pm 0.16
PSMSingleTree 10 / 10 14.47\pm 0.05 13.72\pm 0.18
PSMGreedy 10 / 10 16.20\pm 0.05 10.36\pm 0.10
IKRRTStar 10 / 10 17.84\pm 2.23 28.35\pm 13.50
CBIRRT 10 / 10 14.70\pm 0.71 5.04\pm 0.30
RandomMMP 10 / 10 17.33\pm 1.28 34.75\pm 17.21
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3D Point w/ obstacles
Success Path length Comp. time
PSM 10 / 10 15.95\pm 0.13 13.74\pm 0.51
PSMSingleTree 10 / 10 15.87\pm 0.18 20.42\pm 0.86
PSMGreedy 10 / 10 19.69\pm 0.27 12.89\pm 0.51
IKRRTStar 10 / 10 21.56\pm 3.05 30.21\pm 7.55
CBIRRT 10 / 10 16.66\pm 1.34 3.34\pm 0.25
RandomMMP 10 / 10 22.15\pm 2.20 42.09\pm 17.22
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