Path plannning: RRT* and other algorithms.
Each file can be run directly. The file simulating 2D space contains 4 maps and 3D space contains 2 maps. Maps, start and target point locations, maximum number of iterations can be selected prior to running. Running it will bring up a pop-up window with the plotting results. Each iteration the random tree will expand outwards once, adding a node and a path. The algorithm will stop after the maximum number of iterations and plot the final path as well as print the path and time data.
The following packages need to be added before running the file.