Sampling Based Planners - PRM & RRT
Developer @hobby, home
Two sampling based planners are implemented namely Probabilistic roadmap(PRM) and Rapidly Exploring Random Tree(RRT)
Project is implemented in Python and ROS is used to interact with the simulator, V-REP
Sampling of points in the configuration space is done using Halton Sequence
K-D Tree is used to effectively find the nearest neighbouring node in PRM
R-Tree is used effectively find the nearest neighbouring node in RRT
Local planner used in both the planners are straight line planners
A* search with euclidean distance as the heuristic cost to go is used to find the shortest path in case of PRM
- V-REP
- Path Planning
- RRT
- PRM
- A*
