Astar-JPS-RRT

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This is a lightweight path planning algorithm repository that currently supports the following algorithms: graph-based search algorithms (Astar and JPS), and sampling-based algorithms (RRT, RRT_Star, and Informed_RRT_Star).

🔥 Features

1. Lightweight: Minimal dependencies with concise code implementation
2. Visualization: Realize visual visualization of path planning algorithm effects based on the OpenCV library
3. Cross-platform: This project supports both Windows and Linux systems
4. Reusability: The code in this project can be slightly modified for ROS-based path planning algorithm research

📦 Installation

Windows

First, install the OpenCV library from the official website: https://opencv.org/releases/ , select the stable version OpenCV-4.9.0 for Windows. After installation, you need to configure the environment variables. Follow these steps next:

git clone https://github.com/X-Noname-X/Astar-JPS-RRT.git
# Modify the OpenCV unzip path in Sample_Algorithms\RRT_Series\CMakeLists.txt to ensure the OpenCVConfig.cmake file can be found under this path
set(OpenCV_DIR "<Fill in your OpenCV unzip path>")
# Create a build directory in the Astar-JPS-RRT directory and navigate into it
mkdir build
cd build
# Generate build files
cmake ..
# Compile the project
cmake --build .

Ubuntu

1.Install OpenCV dependencies via the official Ubuntu repository/apt: No need to configure the path manually; the system will automatically recognize it during compilation:

# Update package sources
sudo apt update
# Install the OpenCV development package (includes header files and libraries)
sudo apt install -y libopencv-dev

2.Installation and compilation of the project:

git clone https://github.com/X-Noname-X/Astar-JPS-RRT.git
# Comment out the line "set(OpenCV_DIR "<Fill in your OpenCV unzipped path>")" in CMakeLists.txt
set(OpenCV_DIR "<Fill in your OpenCV unzipped path>") ## Comment out this line
# The following steps are the same as those on the Windows system
mkdir build
cd build
cmake ..
# Compile the project
cmake --build .
# Alternatively, you can use the following command to compile:
# make

🛠️ Running

Windows

• If everything goes well, you will see the following files in the path \Astar-JPS-RRT\build\bin\Debug: Astar.exe, JPS.exe, RRT_Series.exe
• Run directly by double-clicking the .exe files, or enter Astar.exe in the terminal

# Run Astar
\path\to\Astar-JPS-RRT\build\bin\Debug>Astar.exe
# Run JPS
\path\to\Astar-JPS-RRT\build\bin\Debug>JPS.exe
# Run RRT
\path\to\Astar-JPS-RRT\build\bin\Debug>RRT_Series.exe

• Note: Switch between RRT, RRT_star, and Informed_RRT_star by modifying the macro definitions (#define) in the main.cpp file under \Astar-JPS-RRT\Sample_Algorithms\RRT_Series\src

Ubuntu

After completing the installation and compilation, there are three executable files—Astar, JPS, and RRT_Series—in the path /Astar-JPS-RRT/build/bin. Run the following commands in the terminal:

cd /path/to/Astar-JPS-RRT/build/bin
./Astar
./JPS
./RRT_Series

🎮 Results

Visualization for the Astar and JPS algorithms is currently not implemented.

Astar

JPS

RRT	RRT*	Informed RRT*