matlab-rrt-variants

RRT*, RRT-connect, lazy RRT and RRT extend have been implemented for 2d and 3d c-spaces with visualization

#General Information:

This is a basic yet meaningful implementation of RRT and its variants in Matlab.

#How to run All you need to do is fire up the benchmarkRRT.m file, it is pretty self explanatory.

Specify the number of runs for each planner

• num_of_runs =1;

Specify if we want to run the specific planner or not, 1 for yes and 0 for no.

• run_RRTconnect =0 or 1;
• run_RRTextend = 0 or 1;
• run_LazyRRT = 0 or 1;
• run_RRTstar = 0 or 1;

Specify whether to run the planner in 2D or 3D (only for now)

• dim = 3;

Specify the step size, the world is 100 * 100 for 2D and 100 * 100 *100 for 3D

• stepsize = [10];

Specify whether to use random obstacles or to use pre programmed obstacles

• random_world = 0 or 1;

For RRT* only

*radius = 10; *samples = 4000;

Showing output or not

*show_output = 0 or 1; *show_benchmark_results = 0 or 1;