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SUAS-Helmsman

SUAS-Helmsman is ARC's pre path planning library for use in its path generation system. With the now more limited set up time in the SUAS competition, we set out to speed up path generation while removing some human error in the process. SUAS-Helmsman is built upon NetworkX and uses the A* path planning algorithm to create its paths with Shapely checking for collision.

Usage

SUAS-Helmsman can be used either as a library installed via the setup.py or as a stand alone cli tool

Library

  • First import and construct SUASGraph, taking in the lost comms point in the constructor.
  • After, add waypoints, obstacles and other POIs
  • Run the construct_path function to generate the path
  • Get the path via path_lat_lon_alt

Please refer to run.py or vpython-map.py for example usage

CLI

The cli tool can be run via the run.py file

Arguments

  • --file, -f: file path of the JSON file with interop info (./test-files/suas_2019_missions.json)
  • --drop, -d: Toggle to generate drop point (True by default, False is off)
  • --off, -o: Toggle to generate off axis location (True by default, False is off)
  • --obstacles: Toggle to generate obstacles (True by default, False is off)

Visualization

SUAS-Helmsman has a viewing tool built off of VPython and supports similar arguments to run.py