The repository is an extension of the homework in the subject of Methods and Algorithms of Motion Planning. The aim of the task was to implement space searching algorithms. Template: https://github.com/Kicajowyfreestyle/mapr_5_student
Rapidly-exploring Random Trees algorithm
Launch with:
- $ roslaunch path_planning rrt_vertices.launch
- Youtube link: https://www.youtube.com/watch?v=xVmbLGaD8RE
Rapidly-exploring Random Trees algorithm
Launch with:
- $ roslaunch path_planning rrt.launch
- Youtube link: https://www.youtube.com/watch?v=gDZGdrtanZA&feature=youtu.be
Probabilistic Road Map algorithm You can choose between two types of Neighbor Finding. By radius and k nearest neighbors
# find closest points
prm.find_closest_in_radius()
# k nearest points
prm.find_k_nearest()Launch with:
- $ roslaunch path_planning prm.launch
- Youtube link: https://www.youtube.com/watch?v=gbuO4SnTqKk
Rapidly-exploring Random Trees star algorithm
Launch with:
- $ roslaunch path_planning rrt_star.launch
- Youtube link: https://www.youtube.com/watch?v=cctHpKwkIsg