RRT Trajectory Planner

Problem Statement:

Given a starting position (xs, ys), a target position (xt, yt), and a list of the convex hull points for each obstacle, find a feasible trajectory for an omnidirectional circular robot with radius r to follow to get to the target position avoiding obstacle collisions.

Note, we've set the radius of the robot to 1.

RUNNING THE CODE:

Compile by typing "make" on terminal
Run by typing "./plan" on terminal

The above runs the default map with RRT-Connect

If you want to change the map and algo you can also provide two command line arguments.
The usage is as follows

./plan [FILENAME] [ALGO]
  where Maps are in maps/ folder.
        Algo is 0 for RRT-Connect and 1 for RRT-Star.
        
Example:   ./plan maps/map1.txt 1

CODE BASE:

main.cpp
- Contains the first file the planner runs. It parses user input and runs either RRT-Connect or RRT*
Planner.cpp
- Contains RRT-Connect and RRT* Algorithms
Visualizer.cpp
- Contains helper functions to visualize our maps
utils/Graph.h
- Contains graph data structure implementation
utils/KDTree.cpp
- Contains kd-tree data structure implementation
utils/Map.cpp
- Contains Map class to keep track of all information related to environment
utils/Obstacle.cpp
- Contains Obstacle class to keep track of all information related to an obstacle
utils/Point.cpp
- Contains Point class which is utilized throughout the code base
utils/Search.h
- Contains A* Search Function

Shashank-Ojha/RRT-Trajectory-Planner

RRT Trajectory Planner