This repository is meant to implement an RRT-based kinodynamic planner for a Vehicle type object. The aim is to make an intermediate-level planner that connects a global low-frequency GPS planner with a local obstacle-avoidance level high-frequency deterministic planner.
Current work to be done for this code:
-
Implement a map class that can
- Store a multi-dimensional map as a discrete set of points
- Store a 2-D occupancy/obstacle grid on this map
- Implement APIs to interface with the RRT algorithm (interface to be defined)
- Set up a GUI to create your own obstacle map and start/goal configurations
- Create output functions to print the map along with a path and start/goal configs
-
Implement a deterministic local planner that can reach a given (x,y,theta) configuration