Module elastic_bands 

Elastic Bands path deformation algorithm

Deforms an initial path using internal contraction forces and external repulsive forces computed from a distance field. Each waypoint is surrounded by a “bubble” whose radius equals the clearance to the nearest obstacle. The bubble chain is maintained by inserting / deleting bubbles to satisfy an overlap constraint.

Reference:

• Elastic Bands: Connecting Path Planning and Control http://www8.cs.umu.se/research/ifor/dl/Control/elastic%20bands.pdf

Structs

Bubble

A single bubble in the elastic band.

DistanceField

A signed-distance field represented as a 2-D grid.

ElasticBands

Elastic Bands planner.

ElasticBandsConfig

Configuration parameters for the ElasticBands planner.