onlinex / bidirectionalrrtstarfnd

Bidirectional RRT* FND algorithm

Description

Bidirectional RRT* FND algorithm designed to efficiently search nonconvex, high-dimensional dynamic spaces by randomly building a space-filling tree. It uses a fixed number of nodes, which randomly removes a leaf node in the tree in every iteration.

Quick start

Project requires pygame and numpy libraries to run

Works stable with Python 3.6.1

Documentation

Left-click on the map to add an obsticle

Right-click on the map to change the goal position

Bidirectional RRT* FND

There is also a simplier RRT* FN algorithm

RRT* FN