prateeks97 / motion_planning

This repo contains the implementation of various Motion Planning algorithms used for Path Planning and Local Navigation.

Motion planning algorithms

This repository contains some implementations of some path planning algorithms.

Sampling-based Graph Search Algorithms:

1. Depth-First Search (DFS)

2. Uniform Cost Search (UCS)

3. Astar (A*)

4. Probabilistic Roadmap Generation (PRM)

5. Rapidly-exploring Random Trees (RRT)

6. Asymptotically Optimal Rapidly-exploring Random Trees (RRT*)

Force-based Local Navigation:

1. 8 Agent Simulation

2. Crowd Crossing Simulation

Visualizations of sampling-based Graph Search Algorithms:

1. Depth-first search (DFS):

2. Uniform Cost search (UCS):

3. A* search:

4. Probabilistic Roadmap Generation (PRM):

5. Rapidly-exploring Random Trees (RRT):

6. Rapidly-exploring Random Trees* (RRT*): (Asymptotically optimal version of RRT)

Force-based Local Navigation (TTC based approach):

1. 8 Agent Simulation

2. Crowd Crossing Simulation