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 algorithm
• world.py : Generate the world used by the RRT*
• random_walk.py : Algorithm of random_walk path generation
• rrt_star.py : Algorithm for RRT* path finding algorithm
• path_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 algorithm
• utils.py : Utility functions (collision detection, path planning, ...)

For more information about the algorithms, read paper.pdf.