https://github.com/jihoonerd/rrt

Implementation of RRT and RRT* Algorithm
https://github.com/jihoonerd/rrt

opencv python rrt rrt-star

Last synced: 2 days ago
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Implementation of RRT and RRT* Algorithm

• Host: GitHub
• URL: https://github.com/jihoonerd/rrt
• Owner: jihoonerd
• Created: 2021-05-23T04:43:44.000Z (over 3 years ago)
• Default Branch: main
• Last Pushed: 2024-04-07T08:44:29.000Z (7 months ago)
• Last Synced: 2024-05-22T00:05:08.473Z (6 months ago)
• Topics: opencv, python, rrt, rrt-star
• Language: Python
• Homepage:
• Size: 1.47 MB
• Stars: 0
• Watchers: 4
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# RRT

Implementation of Rapidly-exploring Random Tree(RRT) and RRT Star(RRT*)

## Vanilla RRT 

![RRT_PATH](asset/rrt.jpg)

## RRT*

![RRT_STAR_PATH](asset/rrt_star.jpg)

## Installation

```bash

$ pip install -r requirements.txt

```

## How to use

```python

$ python main.py --help

usage: main.py [-h] [--map MAP] [--stepsize STEPSIZE] [--alg ALG] [--radius RADIUS]

optional arguments:

  -h, --help           show this help message and exit

  --map MAP            path to map file

  --stepsize STEPSIZE  step size

  --alg ALG            rrtstar or rrt

  --radius RADIUS      radius for rrtstar

```

Example

```python

$ python main.py --map map.png --stepsize 40 --alg rrt

$ python main.py --map map.png --stepsize 40 --alg rrtstar --radius 40

```

When scren pops up, your first clicked position will be a starting point, and second clicked position will be a target point. Path finding process will launch automatically.