/RRT

Implementation of RRT

Primary LanguagePython

Project Title

Multi-agent trajectory planning: A decentralized iterative algorithm based on single-agent dynamic RRT*

Authors

  1. Sri Manika Makam
  2. Akanksha Patel
  3. Abhishek Banerjee

Dependencies

  1. Python 2.7
  2. ubuntu 16.04

Libraries

  1. os
  2. math
  3. random
  4. numpy
  5. matplotlib.cm
  6. matplotlib.pyplot
  7. scipy.interpolate

Instructions to run

Go to the directory where code is present and run the following command

python rrt_star.py

The final paths of agent 1, agent 2 and agent 3 are saved in final_path1.txt, final_path2.txt, final_path3.txt.