matlab-rrt-variants
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;