motion-planning

Motion planning algorithms for 2D robotics: RRT, potential fields, and A* path planning. Pure Rust, no external dependencies.

Features

• RRT: Rapidly-exploring Random Trees with goal bias, path smoothing
• Potential Fields: Attractive/repulsive force-based planning with gradient descent
• A*: Grid-based optimal pathfinding with 4-connected or 8-connected neighbors
• Trajectories: Linear and trapezoidal velocity profile generation, interpolation, resampling
• Obstacles: Circle and rectangle obstacle types with collision checking

License

MIT