Rapidly-exploring Random Trees Algorithm
An example of rapidly-exploring random trees in 2-D
Ref: "Rapidly-Exploring Random Trees: A New Tool for Path Planning", Steven M. LaValle, 1998
%~~~~
% Code can also be converted to function with input format
% [tree, path] = RRT(K, xMin, xMax, yMin, yMax, xInit, yInit, xGoal, yGoal, thresh)
% K is the number of iterations desired.
% xMin and xMax are the minimum and maximum values of x
% yMin and yMax are the minimum and maximum values of y
% xInit and yInit is the starting point of the algorithm
% xGoal and yGoal are the desired endpoints
% thresh is the allowed threshold distance between a random point the the
% goal point.
% Output is the tree structure containing X and Y vertices and the path
% found obtained from Init to Goal
%~~~~
% Written by: Omkar Halbe, Technical University of Munich, 31.10.2015
Cite As
Omkar Halbe (2024). Rapidly-exploring Random Trees Algorithm (https://www.mathworks.com/matlabcentral/fileexchange/53772-rapidly-exploring-random-trees-algorithm), MATLAB Central File Exchange. Retrieved .
MATLAB Release Compatibility
Platform Compatibility
Windows macOS LinuxCategories
- AI, Data Science, and Statistics > Statistics and Machine Learning Toolbox > Cluster Analysis and Anomaly Detection > Nearest Neighbors >
Tags
Community Treasure Hunt
Find the treasures in MATLAB Central and discover how the community can help you!
Start Hunting!Discover Live Editor
Create scripts with code, output, and formatted text in a single executable document.
Version | Published | Release Notes | |
---|---|---|---|
1.0.0.0 | Small bug fix. |