Modified RRT Path Finding

  

Robot path planning algorithm based on RRT.

With ellipsoidal heuristics.

Modified version for pushing objects.

   

How to run

1. Clone to local repository
2. Execute:

python3 src/main.py

Alternatively, also run

python3 src/RRT.py

Or

python3 src/RRT_star.py

   

Caveats

This repo demonstrates ideas for optimising path finding algorithm.

It is not refined for reliability.

This will not be maintained any further due to these reasons:

• Python is slow and resource intensive compared cpp implementation
• There is no check for unsolvable maps