10 Jul

Bi-directional Target-Oriented RRT Based Path Planning Algorithm

Zhaoliang Zheng path planning

I used 13 maps as the testing maps and implemented my algorithm, parameters of these maps:

map name size initial point coordinate goal point coordinate duty cycles
warran 1108 * 1301 (740,297) (430,1013) 0.347
map 1 500 * 500 (10,10) (490,490) 0.2444
map 2 500 * 500 (10,10) (490,490) 0.3937
map 3 500 * 500 (10,10) (490,490) 0.3985
map 4 500 * 500 (10,10) (490,490) 0.2303
map 5 500 * 500 (10,10) (490,490) 0.2731
map 6 500 * 500 (10,10) (490,490) 0.0681
map 7 500 * 500 (245,10) (245,490) 0.126
map 8 500 * 500 (410,40) (240,300) 0.1223
map 9 500 * 500 (30,150) (490,240) 0.255
map 10 500 * 500 (30,250) (490,240) 0.424
map 11 500 * 500 (150,150) (340,350) 0.146
map 12 500 * 500 (490,10) (10,490) 0.254

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