A basic implementation of the Probablistic Roadmap based planner was implemented with Python 3 using numpy and scipy. The approach comprises of generating a roadmap (graph) and then solving it using the Djikstra’s algorithm. This ROS package allows you to interact with the planner using RViz, you can set start and goal states and the planner will try to solve for them. The planner essentially solves for a circular mobile robot base and respects the radius to check for clearances.
Watch the video above to see it in action!