RRT-series-Test

MATLAB codes of RRT, RRT* and Smart-RRT*.

Usage

Run the file 'main.m'.

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Parameter for Algorithm

• start: position of the start
• goal: position of the goal
• alg: algorithm to use ( 1 = RRT ; 2 = RRT* ; 3 = Smart RRT* )
• epsilon: max step length between nodes
• max_nodes_num: max number of nodes to be arranged
• radius: radius for ChooseParent and Rewire in RRT*
• bias_radius: for Smart-RRT*
• bias_step: for Smart-RRT*

Parameter for Scene Setting

• map_size: size of the scene
• obs_num: number of obstacles (overlap is ok)
• obs_size_min: minimum size of each obstacle
• obs_size_max: maximum size of each obstacle

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Result

RRT	RRT*	Smart-RRT*