Path Planning

Path planning using RRT, RRT*, and BIT* for gridmaps.


Updated 23 May 2016

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This is a path planner to be used with gridmaps, although future versions will expand into different map styles. A map is included titled map.mat, that can be used as an example. Before path planning execution the start point can be selected by cursor from the map, along with the corners of the goal boundary specified. The output is a visual including the map, with the expanded path planning tree and final path. The path planners currently utilized include RRT, RRT*, and BIT*.

Cite As

Jeremy Whitehead (2023). Path Planning (, MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2015a
Compatible with any release
Platform Compatibility
Windows macOS Linux

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Version Published Release Notes

-Bug fixes in map selection and presentation (should be easier to use your own maps)

-Design changed to GUI format
-Ability to select goal points with cursor and by manual input
-Select map file using browse button
-Ability to view the start and goal points before calculation

No updates