[IROS 2023] FISS+: Efficient and Focused Trajectory Generation and Refinement using Fast Iterative Search and Sampling Strategy
Our paper has been accepted by IROS 2023.
@INPROCEEDINGS{Sun_fiss+_2023,
author={Sun, Shuo and Chen, Jie and Sun, Jiawei and Yuan, Chengran and Li, Yuanchen and Zhang, Tangyike and Ang, Marcelo H.},
booktitle={2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
title={FISS+: Efficient and Focused Trajectory Generation and Refinement Using Fast Iterative Search and Sampling Strategy},
year={2023},
pages={10527-10534},
doi={10.1109/IROS55552.2023.10341498},
organization={IEEE}
}- python>=3.8
- commonroad==2022.3
- cvxpy>=1.0.0
We recommend using the anaconda environment
# Clone this repository to a location <PARENT_DIR> (change this part)
cd <PARENT_DIR>
git clone https://github.com/SS47816/fiss_plus_planner
cd fiss_plus_planner
# Create a conda envrionment from the file
conda env create -f environment.yml
conda activate cr
# Export path
export PYTHONPATH=$PYTHONPATH:"<PARENT_DIR>/fiss_plus_planner"-
You may modify the configuration file located at
./cfgs/demo_config.yaml -
Run the demo script:
python3 scripts/demo_cr.py
The result of each scenario will be save as a separate
.giffile under the specified ouput directory (./data/output/gif/)
As pointed out by @ggosjw, you might encounter an error similar to this:
Traceback (most recent call last):
File "<YOUR_DIR>/fiss_plus_planner/scripts/demo_cr.py", line 28, in
planning(cfg, output_dir, input_dir, file)
File "<YOUR_DIR>/fiss_plus_planner/planners/benchmark/planning.py", line 314, in planning
_, ego_vehicle_trajectory, _, time_list, _, fplist = frenet_optimal_planning(
File "<YOUR_DIR>/fiss_plus_planner/planners/benchmark/planning.py", line 38, in frenet_optimal_planning
global_plan = global_planner.plan_global_route(scenario, planning_problem)
File "<YOUR_DIR>/fiss_plus_planner/planners/commonroad_interface/global_planner.py", line 38, in plan_global_route
route_planner = RoutePlanner(scenario, planning_problem, backend=RoutePlanner.Backend.NETWORKX_REVERSED)
File "<YOUR_DIR>/anaconda3/envs/cr/lib/python3.10/site-packages/commonroad_route_planner/route_planner.py", line 138, in init
self.id_lanelets_start = self._retrieve_ids_lanelets_start()
File "<YOUR_DIR>/anaconda3/envs/cr/lib/python3.10/site-packages/commonroad_route_planner/route_planner.py", line 192, in _retrieve_ids_lanelets_start
list_ids_lanelets_start = self.lanelet_network.find_lanelet_by_position([post_start])[0]
File "<YOUR_DIR>/anaconda3/envs/cr/lib/python3.10/site-packages/commonroad/scenario/lanelet.py", line 1549, in find_lanelet_by_position
return [[self._get_lanelet_id_by_shapely_polygon(lanelet_shapely_polygon) for lanelet_shapely_polygon in
File "<YOUR_DIR>/anaconda3/envs/cr/lib/python3.10/site-packages/commonroad/scenario/lanelet.py", line 1549, in
return [[self._get_lanelet_id_by_shapely_polygon(lanelet_shapely_polygon) for lanelet_shapely_polygon in
File "<YOUR_DIR>/anaconda3/envs/cr/lib/python3.10/site-packages/commonroad/scenario/lanelet.py", line 1551, in
lanelet_shapely_polygon.intersects(point) or lanelet_shapely_polygon.buffer(1e-15).intersects(point)]
AttributeError: 'numpy.int64' object has no attribute 'intersects'which might be caused by a newer version of the commonroad pkg.
Find function find_lanelet_by_position() in commonroad/scenario/lanelet.py, and change it to:
def find_lanelet_by_position(self, point_list: List[np.ndarray]) -> List[List[int]]:
"""
Finds the lanelet id of a given position
:param point_list: The list of positions to check
:return: A list of lanelet ids. If the position could not be matched to a lanelet, an empty list is returned
"""
assert isinstance(point_list,
ValidTypes.LISTS), '<Lanelet/contains_points>: provided list of points is not a list! type ' \
'= {}'.format(type(point_list))
return [[self._get_lanelet_id_by_shapely_polygon(lanelet_shapely_polygon) for lanelet_shapely_polygon in
self._buffered_polygons.values() if
lanelet_shapely_polygon.intersects(point) or lanelet_shapely_polygon.buffer(1e-15).intersects(point)]
for point in [ShapelyPoint(point) for point in point_list]]You are welcome contributing to the package by opening a pull-request
We are following: Google Python Style Guide
Licensed under Apache License 2.0
React
Typescript
Django
Laravel
Facebook
Microsoft
Google
Alibaba
D3
Tencent