Path planning algorithm demonstration
- APF.py
Request: Python 2.7.6, numpy, matplotlib
In this python program, the artifitial potential field method was used to avoid the obstacles and move towards the target.
Modify tango to decide where your target is, modify init to determin your start position.
- rrt.m
Request:matlab/Octave
In this program, a modified RRT algorithm is implamented. There is one obstacle and one target position, a path will be found and shown in the figure. Besides the original RRT method, a improvement was desigend. The modification is mainly about deleting the nodes of the found path to make it more smooth and feasible.
Notice: it is possible that this APF mothod takes a hell lot of time to converge or maybe it doesn't converge at the end of the world. That is not a bug of the program, but a bug of APF method.