Rapidly-exploring Random Trees Algorithm

An example of rapidly-exploring random trees and path planning in 2-D

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
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% 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
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% Written by: Omkar Halbe, Technical University of Munich, 31.10.2015