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# Various path finding Algos implmented in 2D space
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Aloriths implemented:
- PRM
- RRT
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- RRT*
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- PRM*
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- FMT*
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Dependencies:
- LightGraphs
- SimpleWeightedGraphs
- Plots

To run:

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1. Run through `main.jl` (line by line)
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This will: 
1. Create an environment space 
2. Create randomly placed obstacles
3. Define starting and ending points
4. Create the PRM
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5. Find the shortest path in PRM
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6. Display env and shortest path 
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7. Repeat steps 4-6 for PRM*
8. Repeat steps 4-6 for RRT
9. Repeat steps 4-6 for RRT*
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10. Repeat steps 4-6 for FMT*
11. Benchmarking RRT* vs FMT*
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Example PRM Output shown below:
![PRM example](/images/prm_example.png)

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Example PRM vs PRM* Output shown below (PRM* requires less edges to get similar path):
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![PRM* example](/images/prmstar_example.png)

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Example RRT Output shown below:
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![RRT example](/images/rrt_example.png)

Example RRT* Output shown below:
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![RRTstar example](/images/rrtstar_example.png)

Example FMT* Output shown below:
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![FMTstar example](/images/fmtstar_example.png)