kinodynamic_rrt_star

# About This is an implementation of parts of the paper: Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints by Dustin J. Webb and Jur van den Berg [PDF](arxiv.org/pdf/1205.5088) If you use the code then I'm sure the authors would appreciate a citation: ``` @article{DBLP:journals/corr/abs-1205-5088, author = {Dustin J. Webb and Jur van den Berg}, title = {Kinodynamic RRT*: Optimal Motion Planning for Systems with Linear Differential Constraints}, journal = {CoRR}, volume = {abs/1205.5088}, year = {2012}, url = { http://arxiv.org/abs/1205.5088 }, } ``` # Limitations * This implementation does not (currently) solve systems where the matrix A is not nilpotent (see the paper for details). * The search radius is not decreased with each iteration (see section V) # Demos ## A 2D double integrator run it using `rrt_double_int_2d.m` ## A quadcopter model with obstacles use `rrt_quad_test.m` to run it waypoints are currently not used (only displayed) obstacles are rows of 6 values: `(center_x, center_y, center_z, width, length, height)` e.g. ``` obstacles = [-1,20,-2, 0.5,4,4; -3,15,-3.5, 0.5,6,1]; ```