RRT-Simulation

RRT Path Planning simulation using PyGame GUI library for Python

Installation

Note

There is a known problem within the Pygame community of pygame not properly displaying on the newest Mac update (OSX Mojave) Run this code only on a Windows (I am running Windows10) or Linux (Ubuntu works) machine.

Requirements:

Requires Python 3 (I am running Python3.7.3) and pip3 (pip should come installed with python)

Pip modules

You can install from the requirements.txt by running pip3 install -r requirements.txt If this does not work please individually install: numpy pygame

Using the simulator

• To run the simulator simply run the command python simulator.py from your terminal while in the code's directory.
• Once in the simulator you can click Run Algo to run the currently selected algorithm in the currently loaded environment.
• If you want to change the algorithm that is running check the global_vars.py method and modify the PLANNER variable there with one of the three options specified in the document.
• For reference ROS is RRT One Side, ROP is RRT Optimize Parent, DRRT is modified DRRT.
• To change the start and goal positions simply change the START and GOAL global variables also listed in this file. The valid area to select within is (800,600).
• Clicking the RESET button will clear the screen and allow you to set up a new obstacle pattern.
• To create obstacles simply click once for where you want the top left corner of the obstacle to be and click again to select where you want the bottom right of the obstacle to be.
• Those are all of the basic features of the simulator as of right now.
• After you exit the simulation you should see a line in the terminal that outputs the number of nodes and the total cost of the path for the given path.

GITHUB

https://github.com/jay1723/RRT-Simulation

• Images are also available here in the images/ folder on the master branch

Sources:

• Line/Line collision detection logic
• Box/Line collision detection logic
• LaTex help