RRT* SIMULATION

Simulate RRT* (Rapidly-exploring Random Tree STAR) algorithm with Python in 2 scenarios:

• Easy: no lane, only obstacles
• Hard: complex lanes and obstacles

Environment

• Python 3.7
• Ubuntu 20.04

Requirements

Install necessary packages followed requirements.txt

pip install -r requirements.txt

How to use

Configure properties in cfg.py:

• start node
• target node
• obstacle size
• number of obstacles
• etc.,

Run simulation

• Easy Mode (default):

  python RRTS.py 
  

  or

  python RRTS.py -m easy
  

• Hard Mode:

  python RRTS.py -m hard
  

Code for the lower version (RRT) is here