RRT, RRT* and Bi-directional RRT

Finding the path between given start position and goal position using RRT algorithm

1. RRT algorithm

2. RRT* algorithm

3. Bi-directional RRT

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REFERENCES:

[1] https://en.wikipedia.org/wiki/Rapidly-exploring_random_tree

[2] LaValle, Steven M. (October 1998). "Rapidly-exploring random trees: A new tool for path planning". Technical Report. Computer Science Department, Iowa State University

[3] Karaman, S., & Frazzoli, E. (2011). Sampling-based algorithms for optimal motion planning. The International Journal of Robotics Research, 30(7), 846–894. https://doi.org/10.1177/0278364911406761

[4] https://medium.com/@theclassytim/robotic-path-planning-rrt-and-rrt-212319121378

[5] http://planning.cs.uiuc.edu/node237.html