Topology-based Path-Planning

• HARRT*
• TARRT*

Dependencies

• libxml2
• cgal

Build

$ mkdir buld
$ cd build
$ cmake ..
$ make

Run HARRT*

$ bin/tpp-harrts-demo

Run TARRT*

$ bin/tpp-tarrts-demo

STEPS:

• load a map "Edit->Load Map"
• set start position and goal position by mouse right-click
• configure the objective and parameters "Edit->Config Objective"
• run the planner "Edit->Run"
• after planning is finished, Left and Right keys to switch different paths

TIPS

• save a plan configuration "File->Save"

• load a plan configuration "File->Open"

• save paths and data to files "File->Export"

• snapshot the GUI "Tool->Save Screen"