RRT Algorithm:

Rapidly-Exploring Random Tree

Author: Chahat Deep Singh

March 27 2017

University of Maryland College Park

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Instructions:

• Run the file RunMe.m in Matlab (R2007b+)

• Make sure the files: (a). create_map (Not required for the RunMe file) (b). draw (c). edge_fn (d). find_new_node (e). goal_edge (f). map.mat (g). nearest (h). RRT (i). problem are in the same folder.

• If there is no map.mat, run create_map file to generate the map with obstacles. (it will generate map.mat)

• To update the map, run create_map.m and then Run RunMe.m for RRT.

• Input argunments are to be changed in 'problem.m' file

Input Arguments:

• Start Node: start_node [x y]
• End Goal: goal [x y]
• r_goal: Radius of the End Goal region
• Epsilon: Minimum Step size for the RRT
• Change the input data

Sample Outputs

• Output 1
• Output 2
• Output 3
• Output 4
• Output 5

Requirements

• Matlab R2014b or later.

Notes

• Tested on MATLAB R2016b, Arch Linux 2017.03.01, Kernel: 4.9.11

License

RRT (Rapidly-Exploring Random Trees) using the MIT license.