Bidirectional RRT* FND algorithm designed to efficiently search nonconvex, high-dimensional dynamic spaces by randomly building a space-filling tree. It uses a fixed number of nodes, which randomly removes a leaf node in the tree in every iteration.
Project requires pygame and numpy libraries to run
Works stable with Python 3.6.1
Left-click on the map to add an obsticle
Right-click on the map to change the goal position
Bidirectional RRT* FND
There is also a simplier RRT* FN algorithm
RRT* FN
