A RRT path finder for 2D robot
run like this:
python .\RRTsolver.py .\obst.txt .\finalgoal.txt
python .\RRTsolverBiDirc.py .\obst.txt .\finalgoal.txt
And parameter in the code:
para_stepsize = 30 // the parameter step size
para_threshold = 20 // the parameter which decide whether it reached the goal
para_Dirthreshold = 0.5 // the parameter which decide how many percent of tree growth direction to be from start to goal
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