path_planning

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

1. RRT vertices

Rapidly-exploring Random Trees algorithm

Launch with:

• $ roslaunch path_planning rrt_vertices.launch
• Youtube link: https://www.youtube.com/watch?v=xVmbLGaD8RE

2. RRT

Rapidly-exploring Random Trees algorithm

Launch with:

• $ roslaunch path_planning rrt.launch
• Youtube link: https://www.youtube.com/watch?v=gDZGdrtanZA&feature=youtu.be

3. PRM

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

4. RRT star

Rapidly-exploring Random Trees star algorithm

Launch with:

• $ roslaunch path_planning rrt_star.launch
• Youtube link: https://www.youtube.com/watch?v=cctHpKwkIsg