Path planning in various 3D environments
These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.
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Python 3.6.10
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numpy >= 1.16.2
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matplotlib >= 3.1.1
.
├── src # Scripts
│ ├── maps # Folder contains all envs
│ ├── main.py # Code to create env and call the planner
│ ├── RRT.py # Main rrt algorithm
│ ├── RRTstar.py # Main rrt star algorithm
│ └── Astar.py # Main a star algorithm
├── results # Path visualization in .png
├── doc # Detailed info
└── README.md
There are 7 3D environments that you can try, as shown in The Envs section
Run the following commands to excecute the different path planning algorithms.
- Modify line 145 in the
main.pyfile if you want to run different path planning algorithms
MP = RRTstar.RRTstarPlanner(boundary, blocks)- Execute this command to run the program
python main.py
In the main.py file
test_single_cube(True)
The cube environment.
In the main.py file
test_flappy_bird(True)
The flappy bird environment.
In the main.py file
test_maze(True)
The maze environment.
In the main.py file
test_monza(True)
The monza environment.
In the main.py file
test_room(True)
The room environment.
In the main.py file
test_tower(True)
The tower environment.
In the main.py file
test_window(True)
The window environment.