included:

• All source files (.m) in directory GUI
• this README
• All references (.pdf) in directory References

Motion Planning GUI

Contributor: Mayank Mittal

This repository contains a GUI to test out various motion planning algorithms. The GUI allows you to define your own start and goal locations.

The reference papers used to learn about the algorithms can be found out in the folder 'References'.

How to use:

1. Clone this repository to your computer. Note: Ensure you have MATLAB installed (for best results, it is preferred to use MATLAB 2016a or any other newer version)

2. Add path of this directory typing the command addpath('<path-to-directory>/GUI') on the MATLAB command window

3. Run the file ../GUI/simple_gui.m to start the interface designed

4. Hit the Start button to begin the planning

5. Hit the Stop button to open the GUI axes as different figure to manually save the plot

Feature: If option Custom chosen to make a map, a button O appears. Double click on O so that an X appears, to exit Custom mode.

Current Algorithms Available:

1. Rapidly Exploring Random Tree (with one seed at start location)
2. Bi- Directional Rapidly Exploring Random Tree (one seed each at start and goal location)
3. Basic Probabilistic Road Map (PRM) (with A* algorithm for shortest path search)

Todos:

Algorithms to be added:

• Probabilistic Road Map
• Potential Method
• Bug Tangent Algorithm
• Graph-based Algorithm like A*, Crossfire

Improve GUI features:

• Enable creation of obstacles
• Improve the stop button
• Use dropdown list instead of listbox