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Comparison of Search based Vs Sampling based motion planning algorithms

Objective:

The objective of this project is to compare search based and sampling based motion planning algortihms. In this project A* and RRT algorithms are compared. The A* algorithm's performance is further analysed by varying the heuristic fuctions. The comparison is done on 7 different environoments with 3-D obstracles.

A* Vs RRT

  • Below given images are of A* (left image) RRT(right image)
A * RRT

A * RRT

A * RRT

A * RRT

A * RRT

A * RRT

Results:

A * RRT

Code and Installation:

  1. Install the requirements
conda create --name env_motionPlanning
conda activate env_motionPlanning
git clone https://github.com/suryapilla/motion-planning.git
cd motion-planning
pip install -r requirements.txt
  1. Adjust the config file to speciy heuristic, planner, environment or use the below command
python3 main.py --env <env name> --planner <choose planner>

Example: To choose tower environmnet and Astart planner use below command

python3 main.py --env tower --planner Astar

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