https://github.com/pgdr/rapidly-exploring-random-tree
https://github.com/pgdr/rapidly-exploring-random-tree
Last synced: about 1 month ago
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- Host: GitHub
- URL: https://github.com/pgdr/rapidly-exploring-random-tree
- Owner: pgdr
- Created: 2025-11-07T18:48:17.000Z (7 months ago)
- Default Branch: master
- Last Pushed: 2026-04-06T12:45:03.000Z (about 2 months ago)
- Last Synced: 2026-04-06T14:38:34.875Z (about 2 months ago)
- Language: Python
- Size: 110 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
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Metadata Files:
- Readme: README.md
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README
# RRT Path Planning Demo (Pygame)
This repository contains a single Python script, `rrt.py`, that visualizes a
basic **Rapidly-exploring Random Tree (RRT)** in 2D using Pygame. The script
spawns random rectangular obstacles, a random start point, and a random goal
point, then grows an RRT until it finds a path close to the goal. When a path
is found, it is highlighted.
- Random start/goal placement
- Random rectangular obstacles
- Incremental RRT growth
- Simple nearest-extension step
- Path reconstruction and drawing once the goal is reached
- Live visualization in a Pygame window
