def main():
# ====Search Path with RRT====
# Parameter
obstacleList = [
(5, 5, 1),
(3, 6, 2),
(3, 8, 2),
(3, 10, 2),
(7, 5, 2),
(9, 5, 2)
] # [x,y,size]
rrt = RRT(start=[0, 0], goal=[6, 10],
rand_area=[-2, 15], obstacle_list=obstacleList)
path = rrt.planning(animation=show_animation)
# Path smoothing
maxIter = 1000
smoothedPath = path_smoothing(path, maxIter, obstacleList)
# Draw final path
if show_animation:
rrt.draw_graph()
plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
plt.plot([x for (x, y) in smoothedPath], [
y for (x, y) in smoothedPath], '-c')
plt.grid(True)
plt.pause(0.01) # Need for Mac
plt.show()
def main():
# ====Search Path with RRT====
# Parameter
obstacleList = [(6.23, 1.9, 1.2), (4.48, 3.44, 1.02), (7.51, 7.14, 0.96),
(0.59, 8.35, 0.75), (2.19, 7.31, 0.6), (1.43, 2.5, 0.48),
(5.8, 6.53, 0.45)] # [x,y,size]
rrt = RRT(start=[x_array[start], y_array[start]],
goal=[x_array[end], y_array[end]],
rand_area=[0, 9],
obstacle_list=obstacleList)
path = rrt.planning(animation=show_animation)
# Path smoothing
maxIter = 1000
smoothedPath = path_smoothing(path, maxIter, obstacleList)
# Draw final path
if show_animation:
rrt.draw_graph()
plt.plot([x for (x, y) in path], [y for (x, y) in path], '-r')
plt.plot([x for (x, y) in smoothedPath],
[y for (x, y) in smoothedPath], '-c')
plt.grid(True)
plt.pause(0.01) # Need for Mac
plt.show()
