RRT* Implementation
WAI NWE TUN
Autonomous Robotics
Contents
• RRT*
• Implementation
• Results
• Limitations
• References
RRT*
• RRT* starts with an empty tree and adds a
single node corresponding to the initial state.
• It finds solution to motion planning problem.
Implementation
• It is assumed that there is no obstacles.
• Cost is determined by Euclidean distance.
• Six main functions are created:
• getSample()
• findNearest()
• steering()
• isObstacleFree()
• getNeighbors()
• chooseParent()
• insertNode()
• reWire()
Implementation
• To run RRT*, eight inputs are necessary:
• Starting point
• Goal point
• Obstacle points
• Threshold value
• Maximum number of nodes
• Step size
• Neighborhood size
• Random generating seed
• Output : total cost and time, locations of
generated nodes
