# plannerRRTStar

## Description

The `plannerRRTStar`

object creates an asymptotically-optimal RRT
planner, RRT*. The RRT* algorithm converges to an optimal solution in terms of the state space
distance. Also, its runtime is a constant factor of the runtime of the RRT algorithm. RRT* is
used to solve geometric planning problems. A geometric planning problem requires that any two
random states drawn from the state space can be connected.

## Creation

### Description

creates an RRT* planner from a state space object, `planner`

= plannerRRTStar(`stateSpace`

,`stateVal`

)`stateSpace`

, and a
state validator object, `stateVal`

. The state space of
`stateVal`

must be the same as `stateSpace`

.
`stateSpace`

and `stateVal`

also sets the
StateSpace and
StateValidator
properties of the `planner`

object.

sets properties using one or more name-value arguments in addition to the input arguments
in the previous syntax. You can specify the BallRadiusConstant, ContinueAfterGoalReached, MaxNumTreeNodes,
MaxIterations,
MaxConnectionDistance, GoalReachedFcn,
and GoalBias
properties as name-value arguments.`planner`

= plannerRRTStar(___,`Name=Value`

)

## Properties

## Examples

## References

[1] Karaman, S. and E. Frazzoli.
"Sampling-Based Algorithms for Optimal Motion Planning." *The International Journal
of Robotics Research.* Vol. 30, Number 7, 2011, pp 846 – 894.

## Extended Capabilities

## Version History

**Introduced in R2019b**

## See Also

### Objects

`plannerRRT`

|`plannerBiRRT`

|`stateSpaceReedsShepp`

|`stateSpaceDubins`

|`stateSpaceSE2`

|`stateSpaceSE3`

|`validatorOccupancyMap`

|`validatorVehicleCostmap`

|`validatorOccupancyMap3D`