Combinational and Sampling Based Motion Planning for MultiAgents¶

Simulation¶

Setup¶

Simulation Start.png

Developed Motion Path¶

Firetruck Motion Path FireTruck Motion.png

Wumpus Motion Path Wumpus Motion.png

Results¶

Obstacle Interaction Data.png

Developed at: Worcester Polytechnic Institute

Project date: February, 2023

GitHub URL: parth-20-07/Combinational-And-Sampling-Based-Motion-Planning-for-MultiAgents

Brief Introduction on Project¶

The objective of this task is to showcase the use of combinatorial and sampling-based techniques for path planning. Our approach involves implementing A* planning in a continuous space while considering the kinematic limitations of a vehicle across state lattices. Additionally, we employ a probabilistic road map method to assist the aforementioned technique.