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A Collection of Motion Planning Algorithms

This repository contains implementations for the algorithms discussed in [1]. These are:

  • Probabilistic RoadMaps (PRM, prm).

  • Simplified Probabilistic RoadMaps (sPRM, sprm).

  • k-nearest Simplified Probabilistic RoadMaps (k-sPRM, ksprm).

  • Rapidly-exploring Random Trees (RRT, rrt).

  • Optimal Probabilistic RoadMaps (PRM*, prm_star).

  • k-nearest optimal Probabilistic RoadMaps (k-PRM*, kprm_star).

  • Rapidly-exploring Random Graph (RRG, rrg).

  • k-nearest Rapidly-exploring Random Graph (k-RRG, krrg).

  • Optimal Rapidly-exploring Random Trees (RRT*, rrt_star).

  • k-nearest optimal Rapidly-exploring Random Trees (k-RRT*, krrt_star).

To use the algorithms, add src/motionplanning to your path, the algorithms can be found in the algorithms subpackage (e.g. to import the PRM implementation one can use from motionplanning.algorithms import prm).

[1] KARAMAN, Sertac; FRAZZOLI, Emilio. Sampling-based algorithms for optimal motion planning. The international journal of robotics research, 2011, 30.7: 846-894.