Unity3D-based implementation of the TRRT path-planning algorithm
- Implement the random-trees path-planning algorithm described in the whitepaper "Transition-based RRT for Path Planning in Continuous Cost Spaces" (Jaillet, Cortés, and Siméon, 2008)
- Learn how to use the Unity3D engine
This class project, created for CS689 with Dr. Amarda Shehu, is based upon the whitepaper "Transition-based RRT for Path Planning in Continuous Cost Spaces" (Jaillet, Cortés, and Siméon, 2008). Their paper described a novel modification to traditional rapidly-exploring random trees (RRTs) that "combines the exploration strength of the RRT algorithm [...] with the efficiency of stochastic optimization methods". The algorithm described therein is suitable for a broad class of problems, including high-dimensional tasks such as motion planning for a many-DOF manipulator, as well analyzing protein-ligand interactions. My task was to translate the authors’ pseudo-code into a fully-functional algorithm while also implementing a user interface and 3D visualization. I selected Unity3D (a popular game-development tool) as my engine of choice for the latter elements.
Unity3D >= 5.0 (Originally developed under Unity 3.5 in 2012, updated for Unity 5.0 in Aug 2015)
Implemented in C# (one of the 2/3 scripting languages available in Unity3D). The actual pathfinding code is in TerrainScript.cs.