RRT Based Motion Planner for Non-Holonomic Mobile Robots

The project focuses on developing motion planning methods for non-holonomic mobile robots, specifically wheeled systems like cars, using Rapidly-exploring Random Tree (RRT) based algorithms. The objective was to create a planner capable of efficiently and effectively navigating through complex environments, avoiding obstacles in challenging scenarios such as narrow garages, parallel parking, and tight streets. Through a series of experiments, we tested the planner’s performance and derived insightful inferences from our analyses, supported by compelling graphical results and visual stills.

The detailed report of the project can be found here.

The code repository for this project can be found here.