lucianzhong / 3dmotionplanning

Udacity Flying Car 3D Motion Planning Project

FCND - 3D Motion Planning

Udacity Flying Car NanoDegree Term 1 Motion Planning Project

In this project you will integrate the techniques that you have learned throughout the last several lessons to plan a path through an urban environment. Check out the project rubric for more detail on what constitutes a passing submission.

The details of the study is given in the Report.

This study implements five planners.

1. 3D Grid

1. Run with motionplot3Dvox.ipynb (View motionplot3Dvox.html)

View motionplot3Dvox.html

2. Sample video for planning to the top of a building

3. Sample video for planning to a hole inside of a building

4. Sample video for planning over obstacles

2. 2D Grid

1. Run with motion_planning.ipynb (View motion_plot.html)

2. Run with motion_planning.py:

python motion_planning.py --local_goal="(290,300)"
python motion_planning.py --global_goal="(-122.400424, 37.794026))"
python motion_planning.py --grid_goal="(488,182)"
python motion_planning.py

First three command to specify goal, fourth one to randomly select goal.

3. 2D Graph

1. Run with motionplotgraph.ipynb (View motionplotgraph.html)

4. Probabilistic Roadmap

1. Run with probabilisticroadmap.ipynb (View probabilisticroadmap.html)

5. RRT

1. Run with rrt.ipynb (View rrt.html)