E* Interpolated Graph Replanner Wed Dec 12 18:55:40 2007
Have a look at the bin/ subdirectory for examples of using E* and PNF. Most of these are simple text-based tools (that produce files with data and gnuplot instructions). test_estar_gfx and test_pnf_gfx are more elaborate and produce graphical output using OpenGL. For example, you can reproduce some of the figures in [5] by running:
$ cd estar-X.Y/build/bin
$ ./test_pnf_gfx ../../misc/pnf-setup-star06-a.pnf paper
(quit the program by pressing 'q')
$ ./test_pnf_gfx ../../misc/pnf-setup-star06-b.pnf paper
================================================== E-star Interpolated Graph Replanner -------------------------------------------------- Some files are: Copyright (C) 2004-2005 Swiss Federal Institute of Technology, Lausanne Some others are: Copyright (C) 2005-2007 Roland Philippsen <roland dot philippsen at gmx net> All files are: Released under the GNU General Public License, see LICENSE.GPL ================================================== HOMEPAGE http://estar.sourceforge.net/ DESCRIPTION The E* algorithm is a path planner for (mobile) robotics. Unlike A*, which constrains movements to graph edges, it produces smooth trajectories by interpolating between edges. Like D*, it supports dynamic replanning after local path cost changes. If you want to give E* a try in simulation, try the E* "development kit" available for download and checkout from the project homepage. PREREQUISITES * Boost Graph Library and smart pointers. http://www.boost.org/ * If you build from SVN, you need GNU Automake, Autoconf, and Libtool. If you're building from a release tarball, you don't need this. http://www.gnu.org/software/automake/ http://www.gnu.org/software/autoconf/ http://www.gnu.org/software/libtool/ * An OpenGL implementation (currently works for Linux and OS X). [This is sort of optional, the configure script tries to guess if you have OpenGL, but it has never been really tested on a system without it.] * Doxygen (optional, http://www.doxygen.org/). BUILDING From source tarball (the "-s" option is important if you do *not* have GNU Automake, Autoconf, and Libtool): $ tar xfvz estar-X.Y.tar.gz $ cd estar-X.Y $ ./build-stage.sh -s This will "install" it in the stage/ directory under your current working directory by default. You can also do a manual "configure / make / make install", or read the output of "/build-stage.sh -h". More cutting edge: Use subversion to check out (or update) a working copy! $ svn co https://estar.svn.sourceforge.net/svnroot/estar/trunk/estar $ cd estar $ ./build-stage.sh Note that in any case, "./build-stage" will create a build/ directory, which you can then use for recompiling the project after modifications to the code. The GNU tools provide dependency tracking, and in most cases only a small portion of the code gets recompiled after a change. Also, in case of a working copy based on SVN, you can pass "-s" to subsequent calls to "./build-stage.sh" to avoid wasting time on recreating files that haven't changed. The build-stage script has some more tricks up its sleeve, check out its "--help" output. For example, to install E* on your system, say in /usr/local/estar, just do this: $ ./build-stage.sh -p /usr/local/estar DOCUMENTATION Point your favorite browser to file doc/html/index.html if it exists, or build it using doxygen by typing (after a successful configuration, see BUILDING above): $ cd build $ make doc
[2] Roland Philippsen and Roland Siegwart. "An Interpolated Dynamic Navigation Function". Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2005. (Available online http://estar.sourceforge.net/papers/philippsen_siegwart_icra2005_paper.pdf)
[3] Roland Philippsen. "A Light Formulation of the E* Interpolated Path Replanner". Technical Report, Autonomous Systems Lab, Ecole Polytechnique Fédérale de Lausanne, 2006. (Available online http://estar.sourceforge.net/papers/philippsen--estar-TR06.pdf)
[4] Bjoern Jensen, Roland Philippsen, and Roland Siegwart. "Motion Detection and Path Planning in Dynamic Environments". Workshop Proceedings Reasoning with Uncertainty in Robotics, International Joint Conference on Artificial Intelligence (IJCAI), 2003.
[5] Roland Philippsen, Bjoern Jensen, and Roland Siegwart. Chapter "Towards Real-Time Sensor-Based Path Planning in Highly Dynamic Environments" in "Autonomous Navigation in Dynamic Environments", Springer Tracts on Advanced Robotics, editors Christian Laugier and Raja Chatila, 2006. (Available online http://estar.sourceforge.net/papers/philippsen-jensen-siegwart--star06.pdf.zip)