The following algorithms have been implemented for a simple 2D navigation task with polygonal obstacles
- Probabilistic Roadmap (PRM)
- Rapidly-exploring Random Trees (RRT)
Usage:
python main.py [-h] [-in IN] [-algo ALGO] [-out OUT] [-n N] [-k K]
[-plot PLOT]
arguments:
-h, --help show this help message and exit
-in IN input file (default: input.txt)
-algo ALGO algorithm to implement: prm, rrt (default: prm)
-out OUT output file (default: output.txt)
-n N number of samples for PRM/RRT (default: 1000)
-k K number of nearest neighbors for PRM (default: 5)
-plot PLOT plot final output? y/n (default: y)
A sample input file has been provided in input.txt. The first lines of the input file are the dimensions of the map. The following lines are the co-ordinates of the vertices of the different polygonal obstacles present in the map.
A sample output is present in output.txt. The first line is a dictionary of the various vertices in the final roadmap. The second line is the shortest path found, with the notation (i,j) representing an edge from vertex i to vertex j.