matlab-rrt-variants.zip_3d规划_decision tree_earth23t_sweptfru_随机树

# Matlab Implementation of RRT Variants =================== # Author: ## Adnan Munawar (amunawar@wpi.edu) RRT*, RRT-connect, lazy RRT and RRT extend have been implemented for 2d and 3d c-spaces with visualization ### General Information: This is a basic yet meaningful implementation of RRT and its variants in Matlab. ## How to run All you need to do is fire up the benchmarkRRT.m file, it is pretty self explanatory. ## Specify the number of runs for each planner * num_of_runs =1; ## Specify if we want to run the specific planner or not, 1 for yes and 0 for no. * run_RRTconnect =0 or 1; * run_RRTextend = 0 or 1; * run_LazyRRT = 0 or 1; * run_RRTstar = 0 or 1; ## Specify whether to run the planner in 2D or 3D (only for now) * dim = 3; ## Specify the step size, the world is 100 \* 100 for 2D and 100 \* 100 \*100 for 3D * stepsize = [10]; ## Specify whether to use random obstacles or to use pre programmed obstacles * random_world = 0 or 1; ## For RRT* only * radius = 10; * samples = 4000; ## Showing output or not * show_output = 0 or 1; * show_benchmark_results = 0 or 1;