The implementation is in Python and from scratch.
All obstacles and the boundary are modeled using ellipsoids as modeling of real-world obstacles as ellipsoids is a solved problem.
3D -
4D to 3D projections -
The input files are named as such. The general formulation is: First line : the first integer is the number of obstacles and the second integer is the number of dimensions
The Silhouette method is complete. Hence, finding a path using the same and then optimizing it helps ensure completeness of the planning method. It improves on methods that use Heuristics to find a path, but lack a guarantee of completeness.
Clone this repo, it uses python 2.7 and its associate libraries.
The Silhouette method is complete. Hence if a path exists from the start to the goal point, it will find it.
This project contains a python based GUI that is also portable, such that this software can run on any system, even one that do not have a python installation.
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