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Motion Planning: Rapidly Exploring Random Trees (RRT): Algorithm Implementation Step by Step!

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#VDEngineering #motionplanning
~~My Udemy Courses on Motion Planning / Navigation / Trajectory Planning:
www.udemy.com/...
Resources:
Mathworks RRT video: • Path Planning with A* ...
RRT paper: www.cs.csustan...
A very good article on RRT by Tim Chinenov (SpaceX): / robotic-path-planning-...
You will learn how to implement the well known Rapidly Exploring Random Trees (RRT) algorithm in Python from scratch. I will show you every step including creating the configuration space which will be a binary image along with setting up the grid and finding the generated path. You will also learn how to calculate the length of the trajectory generated by the RRT algorithm along with the number of waypoints and their locations.
There are more advanced versions of the RRT such as RRT*, CL-RRT and RRT# and these will be covered in future videos.
Timestamps:
RRT Intro: 00:45
RRT Explanation: 01:24
Setting up the code: 07:24
Completing the code: 12:50
Running the code: 25:10
Intro Music: Sappheiros - Dawn
Outro Music: Sappheiros - Promise
From: / sappheiros
Thanks for watching!
~~Website: www.vinayakd.com/
~~Instagram: / vinayak_desh

Опубликовано:

28 авг 2024

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Комментарии : 33

@zixuanfang3948 Год назад

Thanks for your lecture, Sir. I also followed the whole session on Udemy. It is very detailed and worth reading serval times. I do write code myself and compare it with yours to it do gets better. There is one issue on "if self.grid[round(testPoint[1]).astype(np.int64),round(testPoint[0]).astype(np.int64)] == 1:" AttributeError: 'int' object has no attribute 'astype' I tried to delete “astype()" function then it plots a single picture each time, but not the continuous RRT path. My python is 3.9 which is different from yours. Can you give me some advice to solve this problem? Thank you very much and good day.

@juniorsilva5713 4 месяца назад

Great work! Thanks!

@enzezan166 Год назад

So great !thanks like before😊

@zakzqk8485 Год назад

Thank you very much

@joschuagao1266 Год назад

Hi, thank you so much for this video, but I still have a little question. If the distance between the two points is larger than the iteration step size, we connect the two points, starting from the "Father" and generating a new point" son". But what happens if the distance between these two points is less than the iteration step size d?

@vishnuvardhans3236 Год назад

Hi, thanks for this nice intro to RRT. The code works fine, but I was wondering how the children nodes are added to the randomTree attribute of the class? I see that we add the children nodes to the nearestNode attribute, but I do not see where the children nodes are added to the randomTree attribute. Is there something I am missing about the OOPs paradigm that makes this possible implicitly? Hope to receive your reply soon. Thanks

@nokeli70m38 Год назад

Hello. How do I choose my work points based on pressure dynamics?

@mayuradeshpande8832 Год назад

Keep up the good work 👍

@Krishna-yu5hc Год назад

'RRTAlgorithm' object has no attribute 'resetNearestValue/sampleAPoint'

@VDEngineering Год назад

I didn't have this issue

@manazandvakili8145 10 месяцев назад

I have the same problem, Can you tell me how you solve it?

@Mohammad-vr9dj Год назад

Hi, Thank you very much indeed for your useful video. Sorry, I have a question. When I run the RRT* code, after the end of the code, the final figure will disappear. How can I solve this problem? I mean how can I save the final figure on my PC? what shall I do in the RRT* code? Thanks in advance.

@VDEngineering Год назад

You have to change the setting in Spyder, you can check online. I use Mac OS so my configuration maybe different from yours.

@Mohammad-vr9dj Год назад

@VDEngineering Thank you, Sir. I found the solution. I added plt.show() at the end of the code.

@muhammadnajmuddinfarid9567 11 месяцев назад

how can I implement it to 3d model? I appreciate the content!

@VDEngineering 11 месяцев назад

Very easy, you will need to add a z coordinate, and the binary image must be a 3D matrix instead (if there are obstacles in 3D)

@SyedMazhar-os4bg Год назад

where can I find the python file and the image?

@VDEngineering Год назад

Make your own image with MS Paint, very simple

@saviatordestro3121 Год назад

sir , I am getting an error in code during implementation . for line "if self.grid[round(testPoint[1]).astype(np.int64),round(testPoint[0]).astype(np.int64)] == 1:" ' int" object has no attribute 'as type'. please help , i am using it for my minor project in college

@VDEngineering Год назад

Hi, yes this is an issue for newer Python versions, simply do: self.grid[round(testPoint[1]),round(testPoint[0])]

@saviatordestro3121 Год назад

@@VDEngineering thanks sir for replying. Anyway i sorted it by myself

@zixuanfang3948 Год назад

Hello Bro. I got the same problem as yours. Can you share your way to solve it? I am on python3.9. Thanks a lot

@saviatordestro3121 Год назад

@@zixuanfang3948 just delete .astype part from whole syntax. Then it will be good to go.

@zixuanfang3948 Год назад

@@saviatordestro3121 Thanks for your reply bro. I do try to delete the ".astype", it goes to " if self.grid[round(testPoint[1]), round(testPoint[0])] == 1:" Then it only polt ONE figure once time. I got tens of non-continuous figures which should be connected as the path. But if I only delete ".astype" and leave (np.int64) there, i got "TypeError: 'int' object is not callable Just completed the lost. I am sure that the top code " import numpy as np" works as I have done another code and it works