RRT-RRTstar

Implementation and visualization of RRT and RRT* algorithms

Run python scripts for each algorithm

python3 ./RRT.py

python3 ./RRT_STAR.py

Double click once to select start node, twice to select goal node.

Shut down and re-run the script for another test.

4 example images are provided for test, you can specify which image to use in RRT/RRTstar class param "map_name".
Start and goal nodes can also be hard coded and passed to RRT/RRTstar class.
Maximum iteration (default 10000) and step size (default 10) can also be tuned.
Radius param for RRTstar class is to specify the circular region around new random node where nodes' shortest cost and parent may be updated.
Try_goal param being enabled will speed up goal search, which terminates if new random node can connect to goal with no collision.
Path smoothing is by default enabled, and the smoothened path will show in a different color with the raw path.

Name		Name	Last commit message	Last commit date
Latest commit History 7 Commits
images		images
videos		videos
LICENSE		LICENSE
Map.py		Map.py
README.md		README.md
RRT.py		RRT.py
RRT_STAR.py		RRT_STAR.py
Tree.py		Tree.py