dRRT-Star
Overview
A 2D implementation of all the algorithms, such as dRRT, ao-dRRT, and dRRT*, mentioned in Scalable and Informed Asymptotically-Optimal Multi-Robot Motion Planning.
Dependencies
- Python 3
- Python Libraries: Numpy, Math, Copy, Time
Run
- Open the terminal, clone the repo and switch to project directory:
git clone https://github.com/urastogi885/multi-robot-mpnet.git
cd multi-robot-mpnet/
- Make sure the project dependencies are installed.
- Now, run the 3 algorithms mentioned the dRRT* paper:
python dRRT.py
python aodRRT.py
python dRRT_star.py
- You might have to change python to python3 in the above commands depending on the alias of Python on your system.
- You can also download the compressed file via GitHub, open up the project in an IDE that supports Python, and run each of the algorithms on the IDE.