RRT Planner

Implementation of RRT path planner and several dynamic models

Quick Start

Prerequisites

There are some packages needed:

• pygame
• numpy

Run

Simply type:

python main.py input/[model].json

For example:

python main.py input/Car_Dynamic.json

Dynamic Models

Car Dynamic Model

A bicycle dynamic car model.

Source Paper: http://www.cs.cmu.edu/~motionplanning/reading/PlanningforDynamicVeh-1.pdf

Note: there are some mistakes in the paper.

1. r is always yaw rate; not tire radius
2. the matrix in equation(4) should be [A B C D]

Quadrotor Model

A Quadcopter dynamic model.

Source Paper: https://easychair.org/publications/open/sr6

Model 3.3

Car Kinematic Model

A kinematic single track car model.

Source: CommonRoad: Vehicle Models

Model 3: Kinematic Single-Track Model

Car Linear Model

A linear dynamic car model.

It is developed by simply eliminated sin and cos terms in the Car_Dyanmic model.

The way we do that is using small angle approximation.