Search-based and sampling-based planning algorithms
Some basic search-based and sampling-based motion planning algorithms are implemented using Python including A*, RTAA* and RRT* algorithm. Several maps with different difficulties are tested to compare the performance of two kinds of algorithm under different situations.
- Python 3.7
- numpy==1.16.3
- imageio==2.5.0
- imageio-ffmpeg==0.3.0
If you are using Conda for Python environment management:
conda create -n planning_env python==3.7
conda activate planning_env
pip install -U pip
pip install -r requirements.txt
Detailed problem formulation and technical approach are included in [Planning Algorithm Report.pdf](/Planning Algorithm Report.pdf). Some .gif results are shown below.
| RTAA* (Euclidean heuristic) | RTAA* (diagonal heuristic) |
|---|---|
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| RRT* (unsmoothed) | RRT* (smoothed) |
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| RTAA* (Euclidean heuristic) | RTAA* (diagonal heuristic) |
|---|---|
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| RRT* (unsmoothed) | RRT* (smoothed) |
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| RTAA* (Euclidean heuristic) | RTAA* (diagonal heuristic) |
|---|---|
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| RRT* (unsmoothed) | RRT* (smoothed) |
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