Goal:
- Implementing Improved RRT-Connect and GT-RRT on a 2D Map with Obstacles
- Comparing the performance of the enhanced variants with RRT and RRT Connect
Work:
- The folder contains various python files which contain the code to run the program based on a specific start and goal point. The program finds the best path and outputs an image displaying the path.
Additoinal Notes:
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the program does not ask for user input, you can change the start and goal position in the main function.
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there are 8 files
- RRT
- RRT-Connect Map 1
- RRT-Connect Map 2
- Imporved RRT-Connect Map 1
- RRT-Connect Biased
- GT-RRT Map 2
- RRT-Connect 3-Node Map 2
- GT-RRT Empty Map
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to run the program, just use any python editor
For any questions regarding the implementation or running of the program, please contact dagrawa1@umd.edu