2D/3D RRT* algorithm

Version 1.1.0.0 (4.58 KB) by SAI VEMPRALA
Optimal path planning using rapidly exploring random trees
4.5
(15)
6K Downloads
Updated 5 Jan 2017

View License

Code implementing the RRT* algorithm in both 2D and 3D spaces. 2D version also contains obstacle avoidance given the position and dimensions of an obstacle.
2D/RRTStar.m executes the 2D version of RRT*.
3D/RRTStar_3D.m executes the 3D version.
[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] Karaman, Sertac, and Emilio Frazzoli. "Incremental sampling-based algorithms for optimal motion planning." Robotics Science and Systems VI 104 (2010).

Cite As

SAI VEMPRALA (2024). 2D/3D RRT* algorithm (https://www.mathworks.com/matlabcentral/fileexchange/60993-2d-3d-rrt-algorithm), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2016a
Compatible with any release
Platform Compatibility
Windows macOS Linux
Categories
Find more on Simulation in Help Center and MATLAB Answers
Acknowledgements

Inspired: Belief Space Motion Planning using iLQG

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

2D/

3D/

Version Published Release Notes
1.1.0.0

Minor fixes/improvements
Improved readability
1.0.0.0