Table of contents

• Table of contents
• About The Project
  • Built With
• Getting Started
• Prerequisites
  • Installation
• Usage
• RRT Algorithm(in progress)
• Output(in progress)
  • License
  • Contact
• References

About The Project

Rapidly-exploring random trees (RRT) is a common option that both creates a graph and finds a path which may not necessarily be optimal. Points are randomly generated and connected to the closest available node. Each time a vertex is created, a check must be made that the vertex lies outside of an obstacle. Furthermore, chaining the vertex to its closest neighbor must also avoid obstacles. The algorithm ends when a node is generated within the goal region, or a limit is hit.

Built With

• Python3

Getting Started

Prerequisites

Installation

1. Clone the repo

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

2. Change to PRM

    cd sampling-based/
   

Usage

1. Run the python file:

 python3 rrt_2d.py

RRT Algorithm(in progress)

Qgoal //region that identifies success
Counter = 0 //keeps track of iterations
lim = n //number of iterations algorithm should run for
G(V,E) //Graph containing edges and vertices, initialized as empty
While counter < lim:
 Xnew = RandomPosition()
 if IsInObstacle(Xnew) == True:
 continue
 Xnearest = Nearest(G(V,E),Xnew) //find nearest vertex
 Link = Chain(Xnew,Xnearest)
 G.append(Link)
 if Xnew in Qgoal:
 Return G
Return G

Output(in progress)

License

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

Contact

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

References

• https://theclassytim.medium.com/robotic-path-planning-rrt-and-rrt-212319121378