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Duisterhof/DynamicWindowApproach

The Dynamic Window Approach planning algorithm written in C with Python Bindings

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Dynamic Window Approach

2D Dynamic Window Approach evaluated on randomly generated environments.

Requirements

Python

  • Python >= 3.6
  • cython
  • numpy
  • cv2 (Optional for the demo)

C Libraries (Optional for the Demo)

  • SDL
  • OpenGL

Installation

You can directly install Python bindings without compiling the library.

Compile and Install C Library

git clone https://github.com/goktug97/DynamicWindowApproach
cd DynamicWindowApproach
mkdir build
cd build
cmake ..
make
sudo make install
# Optional: Build Demo
make demo

Install Python Bindings

PyPI

pip3 install dynamic-window-approach --user

Source

git clone https://github.com/Duisterhof/DynamicWindowApproach
cd DynamicWindowApproach
python3 setup.py install --user

Usage

cd examples
python3 demo.py

Contributors

goktug97egecetin

Issues