Robotics-RRT

This project implements Rapidly-exploring random tree data structure and path planning algorithm.

Get Started

Please follow the instructions here:

• install ROS kinect
• start your ros by roscore
• open another terminal tab and run cd ${Project folder}
• compile this project by make
• execute the program by ./robotics_rrt
• open another terminal tab and run rosrun rviz rviz
• create a Maker in your RVIZ
• GO Hoosier!

Screenshots

Video Here -> ![https://github.com/gzxultra/Robotics-RRT/raw/master/screenshot/final_video.mp4]

What I haven't cover?

• Configuration space

  • complicated, I will make it up if got more time

• Kinodynamics

• More types of Obstacles

  • they are similar, just need to inherit the base class and implement the collision detecting method

Contact

Author: Zhixiang Gu(Ernie) Mail: zg3@iu.edu