Informed-RRTstar-with-Bezier

The repository implements the informed RRT*(rapidly exploring random tree) algorithm optimized using Bezier curve and integrates it in the nav2 path planner under ros2 humble.

use the Informed RRT* for path planning

use the third-order Bezier curve to smooth the path

Use Informed-RRTstar-with-Bezier

$ git clone https://github.com/Y250HT/Informed-RRTstar-with-Bezier.git

$ cd Informed-RRTstar-with-Bezier

$ colcon build

$ . install/setup.bash

$ ros2 launch nav2_bringup tb3_simulation_launch.py headless:=False params_file:=YOUDIRECTORY/Informed-RRTstar-with-Bezier/nav2_params.yaml