Implementation of Sampling Based Motion Planning Algorithms as HW2 solution of for course 16-782 Planning and Decision-making in Robotics at CMU:
- RRT
- RRT*
- RRT-Connect
- PRM for a planar, 5 DoF arm
HW assignment available here
Will be making this agnostic to state space soon!
Each planner was run with random start and goal configurations (found in random_samples.txt (odd lines were chosen as start, even as end config of joint angles).
Path quality is euclidean difference between each "waypoint" in joint space
| Planner | Mean No of Samples | Mean planning time | Mean path quality |
|---|---|---|---|
| RRT | 1107.750000 | 0.027118 | 5.748375 |
| RRT-Connect | 680.700000 | 0.007917 | 5.603374 |
| RRT-Star | 3202.700000 | 0.319238 | 6.384765 |