Search-and-Sampling-based-motion-planners

This project implements various search based planners (Dijsktra, A star, D star) and sampling-based planners(RRT, RRT star and Informed RRT star).The planners are implemented on a 2d map. The map is given as input in the .csv format in the matrix form where '0' value corresponds to free location and '1' value corresponds to object location. Each of the folder contains main.py file which is responsible for executing the code. The output folder contains the output from the algorithm as the image file showing the map and the resultant path. To run any of the algorithm, download the corresponding folder and run python3 main.py. The map can be changed by chaning the values in the .csv file.

Resultant path from search based planners:

Dijkstra

A*

D* static path

D* dynamic path

Resultant path from sampling based planners:

RRT

RRT*

PRM bridge planner

PRM gaussian planner

PRM random planner

PRM uniform planner

Informed RRT*