7649-project - FA-RRT* (A variation on RRTx for partially observable environments)

GitHub

Source code

The source code for the search algorithms are in the src/farrt folder.

• The current state of the art approach is RRTx. The code can be found at rrtx2.py.
• Our new variation uses potential fields to move the orphan points before they are rewired into the tree. It ccan be found at farrtstar2.py.

Instructions to run the code:

1. Setup the python environment
   1. Source the conda/install.sh script
   2. OR - use the requirements.txt file provided at the root of the directory
2. Run one of the following commands to see the results of a single algorithm:
   1. python src/farrt/rrtx2.py
   2. python src/farrt/farrtstar2.py
3. Run python main.py to run FA-RRT* and RRTx on the same map and get a comparison.

There is unfortunately not a clean command line interface for the code. To modify the gui settings, manually change gui=True to =False in the source code.