Rapidly-Exploring Random Tree for path planning

Implementation of Rapidly-Exploring Random Tree (RRT), a path planning algorithm developed by Steven LaValle (see reference).

Part 1: Simple RRT

The first task involves generating an RRT in a 2D domain given an initial configuration. See an example run below:

simpleRRT

Part 2: RRT with circular obstacles

The second task involves generating a set of random circular obstacles and using RRT to find a path between a start and goal location. See an example run below:

RRT_path_planning_with_obstacle

Part 3: RRT with arbitrary obstacles

The third task involves reading an arbitrary obstacle from an image and using RRT to find a path between a start and goal location. See an example run below using the Northwestern “N” obstacle:

RRT_arbitrary_obstacle_gray