This is an RRT implementation for a finite volume robot with kinodynamic constraints.
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Run the file RunMe.m in Matlab (R2009b+)
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Make sure the files: (a). CollisionFree (b). H5_robot.txt (c). Near (d). Nearest (e). ObstacleFree (f). RRTs (g). Steer (h). Steer2 (i). circle (j). circleExtrude (k) confun (l) mat_file_cal (Not required by RunMe; Needed for CSV file generation) (m) plotObstacle (n) plotObstacleExtrude (o) robot are in the same folder.
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mat_file_cal creates CSV files which contains the time, position (x,y), theta, velocity, omega, acceleration and gamma (steer acc) in the respective order.
- xdim, ydim : Size of the grid
- Start Node: start_node [x y]
- Target: goal [x y]
- radius: Radius of the End Goal region
- r: radius of the obstacles
- Epsilon: Minimum Step size for the RRT
- Change the input data here
- Matlab R2009b or later.
- Tested on MATLAB R2016b, Arch Linux 2017.03.01, Kernel: 4.9.11