/RT-RRT-star

Implementation of real-time variant of RRT* called RT-RRT* capable of dealing with dynamic obstacles and changing goal locations.

Primary LanguagePython

Implementation of RT-RRT* on a point robot

This repository contains code to implement Real Time-RRT* on a point robot. It is the first real-time variant of RRT* and is capable of path planning in an environment with dynamic obstacles and changing goal position.

Instructions to run the code:

python3 rt-rrt_star.py