PDM-Project

Code for planning algorithm with dubins path and RRT*

This code is made for the project assignement of the course Planning and Decision making 21/22 The script will compute the shortest route from a starting point to a goal point using dubins path and RRT*

The code is largely based on the work of AtsushiSakai References: https://github.com/AtsushiSakai/PythonRobotics

Running the code

Run file rrt_star_dubins.py to run the full code. For selecting the different maps edit the main of file rrt_star_dubins.py to either of these options

• maps = Maps(1),obstacles = obstacles_simple
• maps = Maps(2),obstacles = obstacles_medium
• maps = Maps(3),obstacles = obstacles_hard