Path Planning with A* and RRT | Autonomous Navigation, Part 4

See the other videos in this series: • Autonomous Navigation
This video explores some of the ways that we can use a map like a binary occupancy grid for motion and path planning. We briefly cover what motion planning means and how we can use a graph to solve this planning problem. We then walk through two popular approaches for creating that graph: search-based algorithms like A* and sampling-based algorithms like RRT and RRT*.
Additional Resources:
- Planning Mobile-Robot Paths Using RRT MATLAB: bit.ly/38PsPZb
- Create an RRT planner: bit.ly/2Zoyjac
- Download ebook: Sensor Fusion and Tracking for Autonomous Systems: An Overview: bit.ly/32iVFzX
- Download white paper: Sensor Fusion and Tracking for Autonomous Systems: bit.ly/2DwbHvK
- Sampling-Based Algorithms for Optimal Motion Planning, Karaman and Frazzoli: arxiv.org/pdf/1105.1186.pdf
- A* Path Finding by Sebastian Lague video: • A* Pathfinding (E01: a...
- RRT, RRT* & Random Trees by Aaron Becker video: • RRT, RRT* & Random Trees
- RRT* FND: Motion Planning in Dynamic Environments video: • RRT* FND - motion plan...
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[@dbsh4302]

This video is soooo great for beginners like me interested in path planning. Thank you for making and sharing this video!

[@Drone.Robotics]

I always feel amazed after watching your videos...keep it up.

[@thanishkumar398]

Thank you, Brian, for this great video. It was really insightful in starting to learn about path planning : )

[@josephma5961]

Your videos on Control system actually inspired to love control systems even after a terrible experience in College Course. Now you are again Doing wonders... How do you explain things like these so gracefully. Great work... Pretty sure youve got many total beginners like me hooked up to this series.

[@BrianBDouglas]

That’s great to hear that you’re finding this interesting. Thanks for the wonderful comment. :)

[@reshmasuresh6613]

@@BrianBDouglas Hey Brian, great content! I just have a doubt. So, if RRT* is run for fairly enough iterations for a known domain, near optimal path can be achieved within any two nodes?

[@jainilsheth9879]

Thanking for this video, was a great introduction!!!

[@luke7503]

I love how the recommended Sebastian lague his channel is amazing

[@igoragoli]

Thanks a lot for the video!

[@MrEdnz]

Yo brian, these videos really are wonderfully made. As a control systems undergraduate these help me refresh my memory. Keep up the good work!

[@BrianBDouglas]

I will try! Thanks :)

[@bryanblaise79]

Hi Brian, what software was used to create this presentation? For the portion where you were writing in various colors.

[@spiritfly8210]

Thanks for sharing the video.

[@kartikjain4835]

amazing explanation with animations really Helpful 🤩🤩🤩😀

[@myronrayner9815]

great content)

[@vdengineering2666]

Amazing thank you

[@kalebakeitshokile1366]

You made my final year project a lot easier. I'm currently doing a comparison on implementations of D*, A* and maybe Dijkstra in python that I will hopefully (depending on COVID) run on a robot to.

[@kalebakeitshokile1366]

Just submitted the final report. Unfortunately wasn’t able to run the code on the robot but D* absolutely destroyed A* when it came to replanning 😂

[@mdshahriarkabir4731]

@@kalebakeitshokile1366 Did you succeed?

[@kalebakeitshokile1366]

@@mdshahriarkabir4731 i did pretty well in the end. I’ve made improvements to the code since then too. Didn’t get to use the robot because of covid though

[@samuraismack]

Thanks for the great content. I'm looking into an application wherein I need to determine whether there exists a path for an object of finite irregular shape to fit into a cavity with that same shape. Would you have any recommendations for algorithms which might be suited to this?

[@rkspprakhya5944]

Wow you made my engineering interesting...

[@usamazaheer3109]

Hi can u give me your instagram

[@bheemavarapuvardhan9382]

Please make a video on path planning using MATLAB by A* algorithm

[@gmlcks1908]

I'm using Arduino and reading values by setting codes in Arduino and simulate on Matlab. I need to find a way for a robot(from start) to find a goal and get back to its original position just exactly like what you have explained in this video. I understand the logic you are explaining but wonder how would I write codes and commit to the navigation simulator if you have any idea please let me know

[@mohdalkhasawneh3570]

in this case, we know the initial and final position right?

[@KIXEMITNOG]

Can you implement a Linear-Quadratic-Regulator on a line follower?

[@BrianBDouglas]

That is a good idea. I’ll add it to the list but it’ll be awhile. My video schedule is planned for the rest of this year. Thanks for the suggestion.

[@parmardipti9186]

Which software you use for drawing and teaching? Nice work though 👍

[@BrianBDouglas]

I explain it here: engineeringmedia.com/my-setup

[@mouryat_liv]

@@BrianBDouglas Your animations are pretty simple and cool !! I know videos can be overlaid as picture in picture, but how about animations and how do you make them? Is it Illustrator?

[@BrianBDouglas]

@@mouryat_liv The animations are made in Final Cut Pro. I don't do anything too involved with animations. Mostly just set the position, scale, and rotation at one keyframe and then the same at another keyframe and let Final Cut interpolate between the two. Whenever the animations look like MATLAB plots it's because I coded then in MATLAB :) Then I just export a movie from the script and pull it into the video. Cheers!

[@mouryat_liv]

@@BrianBDouglas Wow, thanks for the reply! I'm going to frame this :D Your lectures are the best, seen them countless times since my undergrad and will see them throughout my Phd and later.

[@BrianBDouglas]

@@mouryat_liv Thanks! Best of luck with your Phd and beyond.

[@countonmekaron]

can i get that code? rrt *

[@boylanpardosi4586]

I dont use matlab that often, but I've got a problem that require route planning in large scale grid. The build in path planner solve real fast where astar python implemented cant solve for hours

[@BrianBDouglas]

Do you know if it's using A*? Also, do you know if it's solving an optimal path or just a viable path?

[@error8542]

Input output of Robot path planning????

[@SurajBorate-bx6hv]

input : start point , goal point, obstacles output: path and tree(in case of rrt)

[@lilburger4274]

How does the robot know where the start and end is?

[@EngineeringSimplified]

By using SLAM first to create a map of the environment.

[@oldcowbb]

rrt* literally looks like trees triying to grow roots to the nearest water source