Description:

The probabilistic roadmap planner (PRM) is a motion planning algorithm in robotics
used to determine a path between start and goal configurations of a robot, while
avoiding collisions. In this project, an obstacle-based probabilistic roadmap planner
(OBPRM) is used to create a motion planner for a 2D robot that is able to translate
and rotate freely.

Build:

$ make

Usage:

$ ./pathplanning -r <num-of-robot-vertices> -o <num-of-obstacles> | -i <csv-input-file>

	-r: Number of robot vertices
	-o: Number of obstacles
	-f: Full screen
	-i: CSV input file
	-n: Number of nodes in PRM graph
	-d: Minimum distance between PRM nodes
	Example:
		# Input CSV file
		$./pathplanning -i inputconfig.xml

		# For a triangle robot with 5 obstacles in full screen workspace with 500 nodes in PRM
		$./pathplanning -r 3 -o 5 -f -n 500

Library Installation:

For rendering images, please install SFML library.

$ sudo apt-get install libsfml-dev

Examples:

Rectangle robot with narrow passage workspace

$ ./pathplanning -i tests/configs/narrowbottomconfig.xml

Left click on the window to to cause the robot to move to the selected position

Right click to see the 2D representation of the PRM graph in C-space

Rectangle robot with more difficult narrow passage workspace

$ ./pathplanning -i tests/configs/narrowuconfig.xml

Left click on the window to to cause the robot to move to the selected position

Right click to see the 2D representation of the PRM graph in C-space