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Simple 2D RRT-based Path Planner with Visualisation

Prerequisites

  • gcc
  • cmake

Compilation

In the project directory just do:

chmod +x compile.sh
./compile.sh

It makes two independent executables rrt_path_planner and path_planner_visualisation in the bin folder built in Release

The first executable solves the task and outputs into text files in the result folder.

The second one visualises every step of the algorithm.

Important note

I used the coordinate system where (0, 0) point is in the upper left corner. It was more convenient for the visualisation (because SFML uses such coords by default) and isn't very hard to change.

Usage

For both executables you need to provide the path to the .cfg file as. The format is described later.

./bin/rrt_path_planner configs/map.cfg

./bin/path_planner_visualisation configs/map.cfg

Format of the config file

It requires the following options to customize the flow of the path planner.

mesh_file=2D/map/map.tri
tree_file=tree.txt
trajectory_file=traj.txt
step_size=10
start_x=100
start_y=100
end_x=530
end_y=410
robot_height=10
robot_width=10

step_size is the length of the edge in the rrt. All other options are pretty self-explanatory :+) mesh_file is the path to .tri format that contains 2D triangle describing obstacles, one triangle per line in format: x1 y1 x2 y2 x3 y3. See examples in 2D folder.

Examples of Visualisation

Visualisation can be configured through the #DRAW_NODE and #DRAW_RANDOM_POINT macroses in src/visualisation_main.cpp

  • Example with only edges
only_edges.mp4
  • Example with nodes
with_nodes.mp4
  • Example with the randomly sampled node
with_random_point.mp4