Ant Colony Optimization based RRT* Path Planning

For more details, please refer to the project report: Plan like Ants - Efficient path planning using RRT* and Ant Colony Optimization.

Dependencies

• python3 interpreter
• Python packages - numpy, time, matplotlib, copy, math, collections, queue, opencv, readline

Execution

• ACO-RRT*

  • To execute the program for this problem, navigate to the submission folder and use the following commands

    cd <path_to_submission>/code/
    python3 ACO_RRT*.py
    

• RRT*

  • To execute the program for this problem, navigate to the submission folder and use the following commands

    cd <path_to_submission>/code/
    python3 RRT*.py
    

Demo

gazebo_aco.mp4

Help

For any assistance with executing the programs or questions related to them, please reach out to us at abhijay@umd.edu or tvpian@umd.edu.