About The Project

This report includes the implementation of 3D Probabilistic Roadmaps (PRM) for the purpose of multiple trajectory planning for a swarm of Unmanned Aerial Vehicles (UAVs) (paper). It focuses on exploring a given environment in 3-Dimensional (3D) space and generates an occupancy map for the same. Once the occupancy map is generated, the development of a trajectory finding algorithm based on Probabilistic Roadmaps (PRM), a solution is provided for the movement of a UAV through the structured environment. The mission statement is considered along thelines of search and rescue work or urban emergencies related tasks.

Built With

Python3
trimesh

Getting Started

Prerequisites

Libraries

pip3 install trimesh
pip3 install numpy-stl
pip3 install scipy
pip3 install pykdtree
pip3 install pyembree

Model File

Model file can be found here.
Open the .blend file in Blender Game Engine and export as .obj file format with the filename as test.obj.

Installation

Clone the repo

git clone https://github.com/vishalgattani/Path-Planning.git

Change to PRM
```
cd PRM/
```

Usage

Run the python file:
```
python3 prm.py
```

Steps

prm-steps

prm-pipeline

PRM Algorithm

prm-pseudocode-full

PRM with A*

prm-astar-pseudocode-full

Output

Report

Link to the Report: Report.pdf

License

Distributed under the MIT License. See LICENSE for more information.

Contact

Project Link: https://github.com/vishalgattani/Path-Planning

3D Probabilisitic Roadmap (PRM)

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