add README

Author: AtsushiSakai

PathPlanning/BatchInformedRRTStar/batch_informed_rrtstar.py

@@ -329,8 +329,8 @@ def remove_queue(self, lastEdge, bestEdge):
     def connect(self, start, end):
         # A function which attempts to extend from a start coordinates
         # to goal coordinates
-        steps = self.computeDistanceCost(self.tree.realWorldToNodeId(
-            start), self.tree.realWorldToNodeId(end)) * 10
+        steps = int(self.computeDistanceCost(self.tree.realWorldToNodeId(
+            start), self.tree.realWorldToNodeId(end)) * 10)
         x = np.linspace(start[0], end[0], num=steps)
         y = np.linspace(start[1], end[1], num=steps)
         for i in range(len(x)):

README.md

@@ -5,6 +5,7 @@
 
 Python codes for robotics algorithm.
 
+
 # Table of Contents
    * [What is this?](#what-is-this)
    * [Requirements](#requirements)
@@ -47,6 +48,7 @@ Python codes for robotics algorithm.
          * [RRT* with dubins path](#rrt-with-dubins-path-1)
          * [RRT* with reeds-sheep path](#rrt-with-reeds-sheep-path)
          * [Informed RRT*](#informed-rrt)
+         * [Batch Informed RRT*](#batch-informed-rrt)
          * [Closed Loop RRT*](#closed-loop-rrt)
          * [LQR-RRT*](#lqr-rrt)
       * [Cubic spline planning](#cubic-spline-planning)
@@ -474,6 +476,15 @@ Ref:
 
 - [Informed RRT\*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic](https://arxiv.org/pdf/1404.2334.pdf)
 
+### Batch Informed RRT\*
+
+![irrt](https://github.com/AtsushiSakai/PythonRobotics/raw/master/PathPlanning/BatchInformedRRTStar/animation.gif))
+
+This is a path planning code with Batch Informed RRT\*.
+
+Ref:
+
+- [Batch Informed Trees \(BIT\*\): Sampling\-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs](https://arxiv.org/abs/1405.5848)
 
 ### Closed Loop RRT\*
 
@@ -725,3 +736,4 @@ You can support financially this project via PayPal.
 
 
 
+