The first part of this project was to plan the motion of an n jointed robot arm to avoid obstacles using a Probabilistic Roadmap (PRM). The second part of this project was to plan the motion of a Reeds-Sheep car around some obstacles to a goal location using a Rapidly Exploring Random Tree (RRT).
The PRM and Workspace are in the main directory and are is all original code. You can test them by running the prm_testing.py file
The planar motion files are most from Professor Balkcom (Dartmouth CS Professor), but CarWorkspace.py, RRT.py, and rrt_testing.py are all mine. Run rrt_testing.py to test the RRT implementation.