Steps to run:

2D RRT*FN: cd into scripts folder execute python3 RRTStarFN.py

2D RRT*FN-Dynamic: execute python3 RRTStarFN_Dynamic.py

3D RRT*FND:

1. place the folder inside a catkin_ws.
2. catkin_make from root
3. execute roslaunch astar_turtlebot3 demo.launch.
4. cd into scripts
5. execute python3 controller.py
6. to plot robot path, execute python3 plot_robot_trajectory.py

Folder Structure

📦RRT--Based-Algorithm-for-Motion-Planning-in-Dynamic-Environments
 ┣ 📂launch
 ┃ ┗ 📜demo.launch
 ┣ 📂scripts
 ┃ ┣ 📂__pycache__
 ┃ ┣ 📜Config.py
 ┃ ┣ 📜RRTStarFN.py
 ┃ ┣ 📜RRTStarFN_Dynamic.py
 ┃ ┣ 📜controller.py
 ┃ ┣ 📜plot_robot_trajectory.py
 ┃ ┗ 📜robot_pose.txt
 ┣ 📜CMakeLists.txt
 ┣ 📜README.md
 ┣ 📜Report_proj5.pdf
 ┗ 📜package.xml