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Former work paper from ICRA'19.

# assuming python3 and bash shell
python -m venv rrdtinformed
source rrdtinformed/bin/activate
pip install -r requirements.txt

detailed help message with

python main.py --help

basic syntax is

python main.py <PLANNER> <MAP> [options]

examples

python main.py rrdtinformed maps/room1.png -vv
rrdtinformed Planner 1 rrdtinformed Planner 2

compare with rrtstar （left: my method; right: rrtstar)

rrdtinformed Planner 2 rrtstar Planner

RRT*

python main.py rrt maps/room1.png -vv

Bi-RRT*

python main.py birrt maps/room1.png -vv

Informed RRT*

python main.py informedrrt maps/room1.png -vv