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Multiple Rapidly-exploring Random Tree (RRT)

version 1.4 (14.7 KB) by

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

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% See Usage section in RrtPlanner.m file. This is a basic example of usage:

treesMax = 28; %How many multiple trees (must be at least 2, 1 for source and 1 for destination

seedsPerAxis = 3; %Number of seeds allowed on each axis (discretely placed seeds which idealy helps the RRT expansion)

wallCount = 5; %Number of mock walls to be placed in the environment

rrt = RrtPlanner(treesMax,seedsPerAxis,wallCount)
rrt.SetStart([0 -0.9 0]);
rrt.SetGoal([0 +0.9 0]);
rrt.Run()
plot3(rrt.smoothedPath(:,1),rrt.smoothedPath(:,2),rrt.smoothedPath(:,3),'k*');
delete(rrt);

obstacleFilename = 'obstacles.txt';
seedsPerAxis = 7;
treesMax = seedsPerAxis^3*3+2;
rrt = RrtPlanner(treesMax,seedsPerAxis,obstacleFilename);
rrt.drawingSkipsPerDrawing = 30;
rrt = RrtPlanner(treesMax,seedsPerAxis,obstacleFilename);
rrt.Run()
plot3(rrt.path(:,1),rrt.path(:,2),rrt.path(:,3),'k*');

% To generate an obstacle: create them by specifying rectangular planes as a set of 4 points around the bounds of a rectangle
A-------- B
| |
| |
| |
D---------C

% If this is flat on the z plane at 0.5 then the file would look something like this (with the x,y,z of A, B, C, D on separate lines)
0 0 0.5
1 0 0.5
1 1 0.5
0 1 0.5

A YouTube video of a simple case of this planner can be found here:
http://youtu.be/LodUn86QAfg

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

Comments and Ratings (15)

I looked a bit into the code and ended up adding "rrt.SetUpDataStructures();" after setting start and goal, which seemed to do the trick.

SetStart is not working for me, it is always starting from [0 -0.9 0]. Does anyone know what the problem is? Thanks

SUSHMA MB

How can i change the dimensions of the wall?

SUSHMA MB

Can we add Digital Elevation Model in this and run the 3D RRT code ?

For those struggling with running the code, the download is just a function file. You should create a new file an call the function from there or just straight from the command window. The RrtPlanner.m file has the example in the comments on how to run the path planner.

Basically just create a new .m file in the same directory and copy (example) commands:

treesMax = 28; %How many multiple trees (must be at least 2, 1 for source and 1 for destination
seedsPerAxis = 3; %Number of seeds allowed on each axis (discretely placed seeds which idealy helps the RRT expansion)
wallCount = 5; %Number of mock walls to be placed in the environment
rrt = RrtPlanner(treesMax,seedsPerAxis,wallCount)
rrt.SetStart([0 -0.9 0]);
rrt.SetGoal([0 +0.9 0]);
rrt.Run()
plot3(rrt.smoothedPath(:,1),rrt.smoothedPath(:,2),rrt.smoothedPath(:,3),'k*');

This should run the program.

ziqidongzai

me too

SUSHMA MB

i am not able to run the code, as the code is only able to form the 3d obstacle. The path between the two points is not shown by this code. Can you please upload the updated code.

Tawfiq Rahman

Dear Gavin. Thanks for the code. However, I have been trying to run it without success. The program only gives me a 3D plot of the obstacles and the start and final points. I debugged the code and found the functions for RRT search does not come in the loop. Is there a way that you can help me run the code?

flora

flora (view profile)

Felix

Felix (view profile)

Patrik Eschle

Dear Gavin, thanks for providing this code. It would be easier to understand and implement if you would add a complete description of all arguments in the header of each function - the same way Matlab does.

There are also name collisions, 'connect' is just too generic. A good workaround is to use a prefix such as 'rrt_' to make function names more unique and to simplify renaming.

Thank You very much sir.

zhaopeng QIU

It's very useful and helpful.

zhao fei

The file could be helpful for me.Tkank you

Samual Buraka

I've been searching for RRT matlab implementation for quite a while. Thanks for your effort

Updates

1.4

There was a bug in the Connect method that was sometimes creating incorrect connections. Thanks to David for the bug fix.

1.3

This is now in Matlab OO (i.e. it is a class).
It is much improved speed. And also I fixed several bugs.

MATLAB Release
MATLAB 7.11 (R2010b)

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