Path Planning Algorithms

Path planning in various 3D environments

Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

Built With

• Python 3.6.10

• numpy >= 1.16.2

• matplotlib >= 3.1.1

Code Organization

.
├── src                 # Scripts
│   ├── maps            # Folder contains all envs
│   ├── main.py         # Code to create env and call the planner
│   ├── RRT.py          # Main rrt algorithm
│   ├── RRTstar.py      # Main rrt star algorithm
│   └── Astar.py        # Main a star algorithm
├── results             # Path visualization in .png
├── doc                 # Detailed info
└── README.md

How to Run

There are 7 3D environments that you can try, as shown in The Envs section

Run the following commands to excecute the different path planning algorithms.

1. Modify line 145 in the main.py file if you want to run different path planning algorithms

MP = RRTstar.RRTstarPlanner(boundary, blocks)

2. Execute this command to run the program

python main.py

The Envs

Cube

In the main.py file

test_single_cube(True)

The cube environment.

Flappy Bird

In the main.py file

test_flappy_bird(True)

The flappy bird environment.

Maze

In the main.py file

test_maze(True)

The maze environment.

Monza

In the main.py file

test_monza(True)

The monza environment.

Room

In the main.py file

test_room(True)

The room environment.

Tower

In the main.py file

test_tower(True)

The tower environment.

Window

In the main.py file

test_window(True)

The window environment.