rrt-motion-planner

This repository will contain the implementation of some RRT motion planners.

How to run this code?

First, install pygame, rtree, and scikit, and pyglet:

python3 -m pip install -U pygame --user
pip install rtree
pip install -U scikit-learn
pip install pyglet --user

Next, run the main.py with one of the .png maps as follows:

python3 main.py smile.png 15 10 50000 40 40 700 550
python3 main.py simplemaze.png 15 10 100000 40 40 825 825
python3 main.py maze1.png 15 10 100000 40 40 750 750

Close the loaded map window. A black window will open. Press s to start planning with the RRT. Press esc to stop planner and close window. Next, a new window will open an the RRT* will be executed after pressing s again.

Adding new maps

The map must be black and white figure with obstacles in black.