Multi-target RRT for UAVs path planning

This repository presents the following article in Python:

Thu Hang Khuat, Duy-Nam Bui, Hoa TT. Nguyen, Mien L. Trinh , Minh T. Nguyen , Manh Duong Phung, "Multi-goal Rapidly Exploring Random Tree with Safety and Dynamic Constraints for UAV Cooperative Path Planning," Preprint.

Installation

git@github.com:duynamrcv/multi-target_RRT.git

Run simulation

The current version have four different scenarios, from 1 to 4. Before run our method, please change the value of scenario in file. To run our method, run:

python3 contraint_rrt.py
python3 post_processing.py

We also implement some methods to conduct the comparisons, i.e. compare_*.py. To run those methods, run:

python3 compare_rrt_star.py
python3 compare_rrt_smart.py

The data will be saved in *.txt file. This file is used for the statistic, i.e. analys_*.py.

Results and Comparison

Path

Comparisons