xiaojake / speculative-path-planning

推测路径规划算法,多线程并行运算性能提升很大.

Speculative Path Planning

video

This repository provides the source code of Speculative Path Planning project, which was conducted as a part of CMU's 16-782 Planning and Decision-making in Robotics coursework. The repository consists of two parts: Path Planning and Visualization.

Path Planning

Usage

Compile

$ cd path-planning
$ make

Run

$ ./run_sensitivity_analysis.sh > script_log.txt

Once the command is issued, various experiments (e.g., different number of threads, different maps, etc.) will start running. The experiments totally take around 14 hours on our system.

Results

The results (e.g., execution time, accuracy, etc.) are constantly printed to stdout. Hence, by redirecting the execution log, they can all be captured in a single file. A sample output is placed in script_log.txt.20201219_184300 file. To plot charts, issue the following command:

$ ./plot.py script_log.txt

Once the command is issued, all the plots will be shown and saved in the file system. The charts of script_log.txt.20201219_184300 is placed in final_plots.

Visualization:

This part provides a visualization of our method.

$ cd visualization

• The visualization script animate.py uses python3 matplotlib

• Default arguments are

  • --map ../path-planning/inputset/map1.txt
  • --soln1 ../path-planning/csv_files/t1-s0/map1.csv
  • --soln2 ../path-planning/csv_files/t16-s0/map1.csv
  • --soln3 ../path-planning/csv_files/t16-s1/map1.csv

• An alternative approach:

cd visualization/
./parallel_2d.sh 1 1 0 16 0 16 1
# 1  - map number
# 1  - display 1 thread solution
# 0  - speculation disabled
# 16 - display 16 thread solution
# 0  - speculation disabled
# 16 - display 16 thread solution
# 1  - speculation enabled

For instance, the above command will run simulation to compare the single-threaded solution (baseline), the 16-threaded solution with the speculation disabled, and the 16-threaded solution with the speculation enabled.