Rapdily-exploration Random Tree(RRT)

This repository contains basic RRT and RRT star implementation of 2D path planning in python OS: Ubuntu 14.04

Installation

Be sure to install pygame module

sudo apt-get install python-pygame

Usage

• Just simply run the command to run RRT

python rrt.py

• Or you could play with RRT star

python rrt_start.py

• You could randomly set the start point and goal in pygame window

For more detail please visit

1. https://www.youtube.com/watch?v=bPeSk6CH5vo
2. https://www.youtube.com/watch?v=M5Q6Fywd36w