Tube-RRT*

Tube-RRT*: Efficient Homotopic Path Planning for Swarm Robotics Passing-Through Large-Scale Obstacle Environments

Tube-RRT* is an efficient homotopic pah planning algorithm that builds upon and improves the Rapidly exploring Random Tree (RRT) algorithm. Tube-RRT* is specifically designed to generate homotopic paths for the trajectories in the virtual tube, strategically considering opening volume and tube length to mitigate swarm congestion and ensure agile navigation.

Video Links: YouTube, BiliBilli for Mainland China.

1. Related Paper

Tube-RRT*: Efficient Homotopic Path Planning for Swarm Robotics Passing-Through Large-Scale Obstacle Environments, Pengda Mao, Shuli Lv and Quan Quan. arXiv Preprint.

2. Run

Run the TubeRRTStarDemo3.m in MATLAB.

Licence

The source code is released under GPLv3 license.

Maintaince

For any technical issues, please contact Pengda Mao ([email protected]) or Quan Quan ([email protected]).