Implementation of Rapidly-exploring Random Tree(RRT) and RRT Star(RRT*)
$ pip install -r requirements.txt
$ python main.py --help
usage: main.py [-h] [--map MAP] [--stepsize STEPSIZE] [--alg ALG] [--radius RADIUS]
optional arguments:
-h, --help show this help message and exit
--map MAP path to map file
--stepsize STEPSIZE step size
--alg ALG rrtstar or rrt
--radius RADIUS radius for rrtstar
Example
$ python main.py --map map.png --stepsize 40 --alg rrt
$ python main.py --map map.png --stepsize 40 --alg rrtstar --radius 40
When scren pops up, your first clicked position will be a starting point, and second clicked position will be a target point. Path finding process will launch automatically.