zexinli0w0 / acd

Approximate convex decomposition(ACD)

Archive at 03/2023

Description

This program is used to generate proper path for autonomatic driving. Since path can not be simplified as skelton in this program, we need to do 2D approximately convex decomposition. (This part comes from https://github.com/jmlien/acd2d) After ACD, we use SOM alogrithm to generate path for TSP and MTSP problem.

print_image.py: print solution to 'only_point.png' and 'path.png' main.py:You should input cities list in a list which contains all city postion in the following way: [double/int:pos_x,double/int:pos_y], and after computing you will get a sorted list which represents the order of cities in the following way: [double/int:pos_x, double/int:pos_y, double/int:key].

Presentation

Raw information from rador

Path Planning from SOM

Path Planning from ACD

Dependencies

Ubuntu 16.04

python3

Test

Just python main.py

Star History

Acknowledge

Refer to https://github.com/jmlien/acd2d

Thanks for Yiming Chen's support