ACO-RRT* for Path Planning

This repository implements an approach to path finding by combining Ant Colony Optimization (ACO) with the RRT* (Rapidly-exploring Random Tree Star) algorithm. This hybrid method leverages the strength of ACO by using it to guide the exploration of the RRT* algorithm.

Setup

To install the required dependencies, navigate to the project folder and use the following commands

pip3 install -r requirements.txt

Usage

• ACO-RRT*

  To run ACO-RRT*, navigate to the project folder and use the following commands

  cd <path_to_project>/src/
  python3 ACO_RRT*.py

• RRT*

  To run RRT*, navigate to the project folder and use the following commands

  cd <path_to_project>/src/
  python3 RRT*.py

Results

A sample output of the ACO-RRT* algorithm is shown below. The algorithm finds an optimal path from the start to the goal position in a complex environment. The path is shown in green, while the obstacles are shown in red.

ACO-RRT* Output

RRT* Output

Help

For more help, raise an issue and I will get back to you.