rrt_planner_tutorial

This is the rrt, rrt* planner tutorial implemented after reading the Sampling-based Algorithms for Optimal Motion Plannig article.

1. Article Review

If you go to the page below, you can see the summary of the contents of the thesis.

Sampling-based Algorithms for Optimal Motion Plannig review

2. Directory Configuration

├── README.md
├── img
│   └── rrt-star.png
├── rrt
│   ├── 2d
│   │   ├── rrt.ipynb
│   │   ├── rrt.py
│   │   └── rrt_sim.py
│   └── 3d
│       ├── rrt_3d.ipynb
│       ├── rrt_3d.py
│       └── rrt_3d_sim.py
└── rrt_star
    ├── 2d
    │   ├── rrt_star.ipynb
    │   ├── rrt_star.py
    │   └── rrt_star_sim.py
    └── 3d
        ├── rrt_star_3d.ipynb
        ├── rrt_star_3d.py
        └── rrt_star_3d_sim.py

3. RRT, RRT* Compare Results

red line : RRT

green line : RRT*

4. Simulation Results

RRT 2D	RRT 3D

RRT-star

RRT Star 2D	RRT Star 3D