The robotic path planning problem is a classic. A robot is attempting to navigate its path from the start point to a specified goal region, while avoiding the set of all obstacles.
To implement and test path planning algorithms like RRT(Rapidly exploring Random Trees), PRM(Probabilistic Road Map), Potential Field using python and matplotlib.
In RRT, points are randomly generated within a specified radius and connected to the nearest existing node. Each time a node is created, we check that it lies outside of the obstacles. Furthermore, chaining the node to its closest neighbor must also avoid obstacles. The algorithm ends when a node is generated within the goal region, or a limit is hit.
Check out the Jupyter notebook with RRT implementation here. It looks something like this!
Astitva Sehgal and Shikha Bhat