linyu003 / rrt

Notice

Forked from https://github.com/hichenway/sampling-based-path-planning

I have modified the original code, to make it work with python 3.

It is tested OK on python 3.9.6.

# Execute these cmds in project root dir after your python env is ready: 

pip install -r requirements.txt

export PYTHONPATH=$(PWD)
python ./RRT_and_Pruning/main.py

Below is the original readme:

sampling-based-path-planning

RRT and Pruning

RRT is a path planning algorithm based on random sampling. It can search the whole state space quickly and is widely used to the high-dimensional problems.

Pruning is a simple but efficient algorithm thought.It's intention is to avoid unnecessary search and opearation, or to clip unnecessary parts in result to gain better effect.

Batch Informed Trees

Python Implement For Batch-Informed-Trees

Additionally, this code requires the installation of several python libraries, namely:

- shapely
- numpy
- yaml
- matplotlib
- descartes