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Dual Optimizing RRT* (DO-RRT*): A Simplistic Method for Improving Efficiency of Multi-Robot Tree Expansion

Code for DO-RRT* optimal Multi-Robot path planning with setup for use in OMPL environment.

This branch is for producing tree architecture file output and documentation Notion documentation site is bellow https://dog-ferry-0ea.notion.site/OMPL-Documentation-8e67b036da4c477ba80c19bdef9e972e?pvs=4

Installing and configuring OMPL

Installation OMPL

#install wget 
sudo apt install wget

# download ompl shell script
wget https://ompl.kavrakilab.org/install-ompl-ubuntu.sh

#change file authority
chmod u+x install-ompl-ubuntu.sh

#run shell script with OMPL.app and python binding (maybe full packages)
./install-ompl-ubuntu.sh --app

Build from source (to modify source code)

  • Clone OMPL git repo
  • Dependencies install
    • Boost (version 1.58 or higher)
    • CMake (version 3.5 or higher)
    • Eigen (verison 3.3 or higher)
  • Build OMPL source
mkdir -p build/Release
cd build/Release
cmake ../..

make -j 4 update_bindings # if

OMPL dev

Installation

sudo apt install imagemagick

Structure of ompl_test

ompl_test/       # root directory
├─ algorithm/    # Modified algorithm files based on OMPL package
│	├─ include/
│	│	└─ RRTstar.h
│	├─ RRTstar.cpp
│
├─ build/        # Package build
│
├─ resources/    # Resources like map or else.
│	└─ ppm/
│		└─ floor.ppm
│
├─ src/          # Main file of this packages
│	└─ Point2DPlanning.cpp

How to build and run ompl_app

cd ./build

#build with cmake & make
cmake ..
make

./ompl_app    #run ompl_app
./ompl_app ../resources/ppm/floor.ppm    #run ompl_app with resources/ppm/floor.ppm file

pnmtopng result_demo.ppm > result.png

To run PPM generator

  • python ppmmaker.py

Will make a random block environment

  • cd build
  • ./ompl_app ../resources/ppm/blank.ppm