Bidirectional RRT / RRT* for path planning in 3D space.
The implementation is on the basis of this repo.
First catkin_make. Then open two seperate terminals, source, and run:
- roslaunch path_finder rviz.launch
- roslaunch path_finder test_planners.launch
In Rviz panel, add a new tool "Goal3DTool", press keyboard "g" and use mouse to set goals.
RRT_Connect:
Kuffner, James J., and Steven M. LaValle. "RRT-connect: An efficient approach to single-query path planning." Proceedings 2000 ICRA.
IB-RRT*:
Qureshi, Ahmed Hussain, and Yasar Ayaz. "Intelligent bidirectional rapidly-exploring random trees for optimal motion planning in complex cluttered environments." Robotics and Autonomous Systems 68 (2015): 1-11.
IB-RRT* with informed sampling:
Gammell, Jonathan D., Timothy D. Barfoot, and Siddhartha S. Srinivasa. "Informed sampling for asymptotically optimal path planning." IEEE Transactions on Robotics 34.4 (2018): 966-984.
