This repository includes my implementations of search-based and sampling-based planning algorithms. These were done as part of coursework in the graduate course: 16782 - Planning and Decision-Making in Robotics at CMU Robotics (Fall 2023).
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Goal: Implement A* and its variants to enable a robot (blue) to plan a path to catch a moving target (red)
Details: Code implemenation can be found in 'search-based_planners/planning.cpp'.
| Map 1 | Map 2 |
|---|---|
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| Map 3 | Map 4 |
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Goal: Implement RRT, RRT-Connect, RRT* and PRM to enable a 5-DOF robot to move end-effector from start position (bottom of map) to goal position (top-left corner)
Details: Code implemenation can be found in 'sampling-based_planners/planning.cpp' folder above.
| Planner | Number of Steps in Plan | Video |
|---|---|---|
| RRT | 11 steps |  |
| RRT-Connect | 18 steps |  |
| RRT-Star | 5 steps |  |
| PRM + A* | 4 steps |  |