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MRPP-MATLAB

New Multi robot path planning algorithms implemented in MATLAB. Including heuristic search and incremental heuristic search methods.

(Procedural programming)

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Methods

  • MAStar: Multi-Robot A* based path planning
  • ...

Run

  • Go into the methods directory.
  • Run the RUN_[Methods_name].m file.
    • MAStar/RUN_MAStar.m

General

Apart from each path planning method's directory, there are two general directories:

  • common: common functionalities used in all planning methods
  • models: functions for creating and saving models (configurations).

Common Settings

can change this setting in the Run_[method].m file

  • distance type: Model.distType ('euclidean' or 'manhattan')
  • distance type: Model.adjType ('4adj' or '8adj')

Configuration - Models

Initial configuration includes:

  • Map (free nodes)
  • obstacles (occupied nodes)
  • robot's start node
  • robot's goal node
  • ...

To change the configuration, you can edit the createModel_#.m file.

Simulation

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