RRT* and Informed RRT*

Before starting the simulation place the upper-left corner of a rectangle obstacle with pressing the mouse and the bottom-right corner releasing it and the goal area with the A key.

Press any key -besides A and ESC- to start/stop the simulation.

Some videos of the code running:

RRT*: https://twitter.com/Ivrolan/status/1356588471612280832?s=20
Informed RRT*: https://twitter.com/Ivrolan/status/1357041435351142401?s=20

Explanation of the algorithms:

Post on Medium in Spanish: https://medium.com/blog-robotech/rrt-e-informed-rrt-e9f90b5c3457