RRT-CPP

Rapidly-Exploring Random Trees (RRTs, LaValle et al., 1998) implementation in C++17. The use of Ubuntu, C++17, and Python 3.8 is assumed everywhere.

Dependencies

libpython3.8-dev

numpy

Build Instructions

mkdir build && cd build
cmake ..
make

You can then run the algorithm by executing ./rrt

Configuration

You set different goals and obstacles by changing the config in Params/config.json.

Output

References

1. LaValle, Steven M. (October 1998). "Rapidly-exploring random trees: A new tool for path planning" (PDF). Technical Report. Computer Science Department, Iowa State University (TR 98–11).

2. Howie Choset, James Kuffner. "Robotic Motion Planning: RRT’s". Robotic Motion Planning, 16-735. The Robotics Institute, Carnegie Mellon University.