RRT (Rapidly-Exploring Random Tree) Search

Author: Yael Ben Shalom

Table of Contents

• Overview
  • Simple RRT
  • Path Planning with Obstacles
• Usage and Configuration Instructions
• Results

Overview

A Rapidly-Exploring Random Tree (RRT) is a fundamental path planning algorithm in robotics, first developed by Steven LaValle in 1998. Path planning is the task of moving a robot from one location to another, while avoiding obstacles and satisfying constraints.

Simple RRT

Simple RRT implementation in a two-dimensional domain, D=[0,100]X[0,100]

Path Planning with Obstacles

RRT implementation in a two-dimensional domain, D=[0,100]X[0,100], with circular obstacles.

Usage and Configuration Instructions

1. Clone the repository:
   

git clone https://github.com/YaelBenShalom/RRT-Challenge.git

2. Generate a Rapidly-Exploring Random Tree (RRT) using:

python3 random_tree.py

Results

An RRT implementation without obstacles:

An RRT implementation with 20 obstacles: