You need python 3, with Numpy, Matplotlib and Scipy installed. With pip3, run the following command to install those libraries:
pip install numpy matplotlib scipy
To launch the program, run one of the following command:
# Run a random walk simulation
python main.py random
# Run a RRT* simulation
python main.py rrt
# Run multiple instances of the algorithms to compare time performances
python main.py time
main.py
: Run the core logic of the comparison between each algorithmworld.py
: Generate the world used by the RRT*random_walk.py
: Algorithm of random_walk path generationrrt_star.py
: Algorithm for RRT* path finding algorithmpath_generator.py
: Generate a path with the random walk model of the RRT*path_processing.py
: Utility functions to modify a path (eg: path pruning)smoothing.py
: Smoothing algorithms (Bézier, Piecewise Bézier and KFS)eval.py
: Display stats and graphs to evaluate the performances of each algorithmutils.py
: Utility functions (collision detection, path planning, ...)
For more information about the algorithms, read paper.pdf
.