README
importent files in this directory:
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prm_map.py
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prm_problem.py
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rrt_planner.py
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astar_search.py
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cs1lib.py
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display_planar.py
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planarsim.py
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SearchSolution.py
########################################################## To test PRM planner with robot arm!!! ##########################################################
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open prm_problem.py and run directly with the default settings of generate size 1000 and 15 neighbors
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to modify generate size and neighbors, open prm_map.py they are at line 24 and line 26 respectively
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if you wish to test other map configurations, go to line 66 of prm_problem.py the main function
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prm_map takes in (width of map, height of map, list of obstacles, number of arms, lenghts of arms, resolution of collision check)
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prm_problem takes in (a prm_map, start configuration, goal configuration)
configurates are lists of thetas, ex: (pi, 0, pi, 1.5*pi)
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use the following command to solve prm_problem result = astar_search(test_prm_problem, test_prm_problem.heuristics)
########################################################## To test RRT planner with robot car!!! ##########################################################
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open rrt_planner.py and run directly with the default settings
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if you wish to change the terminate distance between config and goal, go to rrt_planner.py line 43
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if you wish to test other map configurations, go to line 163 of rrt_planner.py the main function
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rrt_planner takes in (width of map, height of map, obstacles, start, goal, delta(timestep), resolution)
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use the following command to solve rrt_planner solution = test_rrt.solve()