This repository is created for the submission to the exercises given in this webpage.
Webpage : http://www.osrobotics.org/osr/planning/path_planning.html
Exercises : "Solving a 2D motion planning problem by PRM" and "Post-processing a 2D path"
For more information, please refer to http://www.osrobotics.org/osr/
- Clone this github repository.
git clone https://github.com/Jayden9912/PRM.git && cd PRM
- Edit the permission of the shell file.
sudo chmod +x run.sh
- Run the code
./run.sh
Given static obstacle, initial position and target position, probabilistic roadmap will be created based on the conditions given (with pathshorcut enabled).
There are few options that can be changed in run.sh. Particularly, the option of edgePlot and pointPlot should be set to False to reduce the runtime.
With edgePlot, pointPlot and shortcut set to False:
With edgePlot, pointPlot set to False, shortcut set to True:
