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Adnan Munawar (amunawar@wpi.edu)
RRT*, RRT-connect, lazy RRT and RRT extend have been implemented for 2d and 3d c-spaces with visualization
This is a basic yet meaningful implementation of RRT and its variants in Matlab.
All you need to do is fire up the benchmarkRRT.m file, it is pretty self explanatory.
- num_of_runs =1;
- run_RRTconnect =0 or 1;
- run_RRTextend = 0 or 1;
- run_LazyRRT = 0 or 1;
- run_RRTstar = 0 or 1;
- dim = 3;
- stepsize = [10];
- random_world = 0 or 1;
- radius = 10;
- samples = 4000;
- show_output = 0 or 1;
- show_benchmark_results = 0 or 1;