Problem Statement

• Plan motions for non-holonomic systems whose dynamics are described by an ordinary differential equation of the form $$\dot{q} = f(q,u)$$
• Compute the dynamically feasible and collision free motions for these systems using RRt and KPIECE planners
• Learn about and implement a new planner called Reachability-Guided RRT (RG-RRT)

Results

The path for the three different planners KPIECE RRT and RGRRT are shown below:

Benchmarking of the planners for both cases were perofrmed and the results obtained as shown below:

Pendulum

Summarizing from the above table, we conclude that:

• The median path length for RGRRT is the least.
• The median number of tree nodes is very low for RGRRT.

Car

Summarizing from the above table, we conclude that:

• The median path length for RGRRT and KPIECE is least and similar to each other. However path length varies more for KPIECE from one iteration to the other.
• The median number of tree nodes is much much less for RGRRT.