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Multiple Rapidly-exploring Random Tree (RRT)

15 Sep 2008 (Updated 16 Sep 2008)

No BSD License

Multiple RRT implementation for mobile robot path planning or C-space manipulator motion planning

File Information
Description	To Run the code: unzip attached file, then run RRT(). See /html/index.html for info on files and /html/RRT.html for arguments passed to RRT. Edit obstacles.txt to change the definition of obstacles in the environment. About RRTs: RRTs first published in [1] are randomised planners especially adept at solving difficult,high-dimensional path planning problems. However, environments with low-connectivity due to the presence of obstacles can severely affect convergence. Multiple RRTs have been proposed as a means of addressing this issue, however, this approach can adversely affect computational efficiency. This paper [2] published by the authors of this Matlab code is the implementation of multiple Rapidly-exploring Random Tree (RRT) algorithm work. This paper introduces a new and simple method which takes advantage of the benefits of multiple trees, whilst ensuring the computational burden of maintaining them is minimised. Results indicate that multiple RRTs are able to reduce the logarithmic complexity of the search, most notably in environments with high obstacle densities. [1] LaValle, S. M., ‘Rapidly-Exploring Random Trees: A New Tool for Path Planning’, TR 98-11, Computer Science Department, Iowa State University, Oct. 1998. [2] Matthew Clifton, Gavin Paul, Ngai Kwok, Dikai Liu, Da-Long Wang, "Evaluating Performance of Multiple RRTs", IEEE conference on Mechatronic and Embedded Systems and Application, 2008
MATLAB release	MATLAB 7.5 (R2007b)
Zip File Content
Published M Files	Function collisionCheck, Function connect, Function displayTree, Function dist2edges, Function initSearch, Function nearestNeighbour, Function newPoint, Function RRT, Function smoothPath, Function tracePath, obstacles_array, PointInQuad, sameSide
HTML Files	RRT20080916/html/index.html
Other Files	RRT20080916/collisionCheck.m, RRT20080916/connect.m, RRT20080916/displayTree.m, RRT20080916/dist2edges.m, RRT20080916/smoothPath.m, RRT20080916/sameSide.m, RRT20080916/RRT.m, RRT20080916/PointInQuad.m, RRT20080916/obstacles_array.m, RRT20080916/obstacles.txt, RRT20080916/newPoint.m, RRT20080916/nearestNeighbour.m, RRT20080916/initSearch.m, RRT20080916/tracePath.m

Tags for This File
Everyone's Tags	manipulator, path planning, rapidlyexploring random tree, rrt
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Comments and Ratings (1)
18 Sep 2008	Samual Buraka	I've been searching for RRT matlab implementation for quite a while. Thanks for your effort

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Tag Activity for this File
Tag	Applied By	Date/Time
rrt	Gavin	22 Oct 2008 10:19:34
rapidlyexploring random tree	Gavin	22 Oct 2008 10:19:34
path planning	Gavin	22 Oct 2008 10:19:34
manipulator	Gavin	22 Oct 2008 10:19:34

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