RPM-RRT

Authors: Kevin Barnard, Harrison Oest, Michael Le

RRT algorithm implementation for CSCI 498: Robot Planning & Manipulation

Instructions

The program has two primary modes of operation: evaluate and visualize.

Three algorithms are implemented:

• RRT
• RRT-multi
• RRT-connect

evaluate

The evaluate mode is designated for data collection in parallel for the three algorithms.

Usage:

python evaluate.py [epsilon] [limit] [batch] [n_obstacles]

For help with the options, run evaluate.py with the -h or --help option.

visualize

The visualize mode is designated for visualizing how the algorithms perform on a predefined space of obstacles.

Usage:

python visualize.py

There are no options for visualize.py.

An example output of visualize is shown below.

Dependencies

• Python 3.7.3
• matplotlib 3.0.3