Choose algorithm in file traj_planning/test_sequence.m and run.
On file test_sequence.m uncomment accordingly one of the five functions below.
Note that the first function is the RRT of the report, while the fifth function is the proposed RRT of the report.
path{qn}=rrt_function(map,start,stop,num_iter);
path{qn}=rrt_goal_on_view(map,start,stop,num_iter);
path{qn}=bi_directional_rrt_function(map,start,stop,num_iter);
path{qn}=bi_directional_rrt_function_on_view(map,start,stop,num_iter); path{qn}=bi_directional_rrt_function_optimized(map,start,stop,num_iter);
From these functions, one can navigate accordingly to the created functions such as back_tracking, path_collision_checker plot_path_rrt.
Furthermore, the maps created are saved in folder traj_planning/maps.
The main room map is saved as map_ours_11, while the second map mentioned on the report is map3.
In folder traj_planning/maps there exist other maps with different types of obstacles for the sake of more tries if necessary.
The files that were written by us are:
- path_collision_checker.m
- bi_directional_rrt_function.m
- bi_directional_rrt_function_on_view.m
- bi_directional_rrt_function_optimized.m
- rrt_function.m
- rrt_goal_on_view.m back_tracking.m