Implementation of Rapidly exploring random trees. video https://youtu.be/i75tGsbwjXw
Links:
https://en.wikipedia.org/wiki/Rapidly-exploring_random_tree
http://msl.cs.uiuc.edu/~lavalle/papers/LavKuf01.pdf
Description:
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main.cpp contains example to add obstacle and run algorithm.
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class Cobs- defines obstacle Parameters required - startx, starty, width of obstacle, height of obstacle
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class RRTMain - contains rrt implementation Parameters required - vector contaning all the of obstacles, width of cspace, height cspace
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to run algorithm, fisrt need to call init() method using RRTMain object. Parameters - start location, goal location, step size and maxIteration
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Call run() method using RRTMain object
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Call save() methos using RRTMain object.
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Path.txt, Obstacles.txt and Branches.txt will be generated,
Path.txt contains main route.
Obstacle.txt contains x,y position,width,height of obstacle
Branches.txt contains other explored branches
Environment:
Algorithm written in c++. Output is plotted with python3 and pygame. Set python environment with given requirements.txt file in plotter/ folder.
Plot Result:
- compile and run main.cpp.
- python plotter will ask for whether to plot "Branch.txt", provide 'y' or 'n' -- prefer 'n', as when iterations are large whole scrren will become cloudy with other branches. For small number of iterations it's okay.
