Rapidly-Exploring Random Tree for path planning
Implementation of Rapidly-Exploring Random Tree (RRT), a path planning algorithm developed by Steven LaValle (see reference).
The first task involves generating an RRT in a 2D domain given an initial configuration. See an example run below:
The second task involves generating a set of random circular obstacles and using RRT to find a path between a start and goal location. See an example run below:
The third task involves reading an arbitrary obstacle from an image and using RRT to find a path between a start and goal location. See an example run below using the Northwestern "N" obstacle:
