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RRT Path-planning algorthim C++ Code

This can be used to do path planning in two-dimensional space using rapidly exploring random tree (RRT) algorithim. In this algorithim, a feature based direction and distance criteria is used which would help in achieving smooth path and faster convergence of algorithim. The more details about these criteria can be found at documentation

System Requirements

  • Ubuntu 14.04 LTS (64 bits)
  • Install Qt-Creator for compling and running the code
  • Install gnuplot scientific library

Important parameters

  • bias: its value will be in the range of 0 to 10. Large value will help in faster convergence of path towards final position.
  • radius: tolerance of position for goal position.
  • max,min: it can be used to specify the limits of workspace
  • lambda: convergence rate parameter

How to run the code

  • Open the rrt_planning.pro using Qt-creator and click on configure project. Press Ctrl+B to compile the code.
  • Open the main.cpp file in source directory and enter the initial and final position of path.
  • Change bias,radius parmeter in main.cpp and max,min,lambda in gen_new_node.cpp file as per requirement.
  • Press Ctrl+R to run the code.
  • the path will be written to tree1.txt file and plot of RRT tree will be shown.

Authors

  • Deepak Raina - Initial work