README.md

Instruction to run the code

• Install the required dependencies

  sudo pip install scipy math matplotlib tqdm

1. LOADING THE ENVIRONMENT

   Run main.blend file and dorp down at bar in scripting tab and run env.py.

   • Make sure map path is added in line 7.
   • For now 3 maps are already loaded in the blender env. Hide and unhide the map according to the requirement.

2. ADDING MAP PATH

   In env3D.py add map path location at line 8.For eg. For eg.

   file_path = '/home/ankitmittal/Documents/STUDY/RBE595/HW2a/amittal_p2a/src/sample_maps/map2.txt' 

3. SET STARTING AND GOAL POSITION

   In env3D.py set starting and goal positon in line 52 and 53 repectively.

   self.start = np.array([0, 20, 2])
   self.goal = np.array([10, 20, 3])

4. SET STARTING POSITION FOR BLENDER

   In main.py in blender set the starting location of the drone for blender environment in line 93 - 95.

   startx = 0
   starty = 20
   startz = 2

Results

1. SIMULATION

2. IMPLEMENTATION