RRT Algorithm - Planning Algorithm

Explanation: The implementation is done in Python 3. The module used is PyGame, it provides UI to visualize the Algorithm in running state.

Link for Algorithm Explanation:
https://en.wikipedia.org/wiki/Rapidly-exploring_random_tree
https://medium.com/@theclassytim/robotic-path-planning-rrt-and-rrt-212319121378

How to Run:

1. Install PyGame 1.9.4 module in Python 3
2. Running in Sypder is recommended.
3. Run RRT_Source_Code.py directly in Python3 environment.
4. It will open an UI.
5. Further instruction is given in the UI itself.

Note: Make sure to keep obstacles such that they don't have any breaking of pixels in the line[Move the mouse pointer slowly], or else the searching tree will go through it. Make sure the boundary of obstacles are thick enough for not having any illegal jumps over it.

Sample Pictures: