GitHub

A C++17 implementation of kinodynamic RRT* for a non-holonomic unicycle vehicle, with a Python visualization script that renders the search tree, obstacles, and final path.

Kinodynamic RRT* Motion Planner A C++17 implementation of kinodynamic RRT* for a non-holonomic unicycle vehicle, with a Python visualization script that renders the search tree, obstacles, and final ...
GitHub

Mobile Robotics — Planning, Mapping & Localization

Implementations of the core mobile-robot autonomy stack, written from scratch in Python / ROS2 and demonstrated in Gazebo & RViz simulation. Graduate robotics coursework (RE 607, Widener University).
IEEE

VGA*-RRT*: A Mobile Robot Path Planning Algorithm for Irregular and Complex Maps

Abstract: The aim of this paper is to propose a VGA*-RRT* planning model, which integrates the A* algorithm and the improved Rapidly Exploring Random Tree Star(RRT*) algorithm to address the path ...
IEEE

Adaptive Bi-Directional RRT Algorithm for Three-Dimensional Path Planning of Unmanned Aerial Vehicles in Complex Environments

Abstract: This paper proposes an Adaptive Bi-directional Rapidly-exploring Random Tree (ABi-RRT) algorithm with the objective of addressing challenges in three-dimensional path planning of unmanned ...