Very simple script to demonstrate RRT* pathfinding.
Try it now on your browser! https://msakuta.github.io/RRTStarJS/
Currently the path finding is very dumb and sometimes fails to find a path or even follow a found path.
This project assumes deno but you could use Node.js to build.
Compile with
deno bundle --config tsconfig.json .\index.ts index.js
deno bundle --config tsconfig-webworker.json .\search.ts search.js
because WebWorker script needs to be a separate file.
I tried to use bundler, but somehow it failed to compile for
web worker.
The web page and the web worker scripts have different library dependencies, so they need their own tsconfigs.
And start a file server by installing file server
deno install --allow-net --allow-read https://deno.land/std@0.95.0/http/file_server.ts
and run it
file_server .
and browse http://localhost:4507/ (or whatever the file_server tells to use).
https://theclassytim.medium.com/robotic-path-planning-rrt-and-rrt-212319121378