https://github.com/rexledesma/rrt-star

An Implementation of RRT* from "Incremental Sampling-based Algorithms for Optimal Motion Planning" by Karaman et al. 2010
https://github.com/rexledesma/rrt-star

path-planning robotics rrt rrt-star sample-based-learning

Last synced: 30 days ago
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An Implementation of RRT* from "Incremental Sampling-based Algorithms for Optimal Motion Planning" by Karaman et al. 2010

• Host: GitHub
• URL: https://github.com/rexledesma/rrt-star
• Owner: rexledesma
• Created: 2019-05-01T16:23:40.000Z (over 6 years ago)
• Default Branch: master
• Last Pushed: 2019-05-02T01:59:13.000Z (over 6 years ago)
• Last Synced: 2025-01-25T12:27:26.019Z (9 months ago)
• Topics: path-planning, robotics, rrt, rrt-star, sample-based-learning
• Language: Python
• Homepage:
• Size: 224 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md

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README

          
# RRT-Star

An Implementation of RRT* from ["Incremental Sampling-based Algorithms for Optimal Motion Planning" by Karaman et al. 2010](https://arxiv.org/pdf/1005.0416.pdf).

![](assets/demo.gif)

## Inspiration

A similar demonstration is shown in this [robotics lecture from the University

of Houston](https://www.youtube.com/watch?v=Ob3BIJkQJEw), and is also hosted on

[Wolfram](http://demonstrations.wolfram.com/RapidlyExploringRandomTreeRRTAndRRT/).

## Usage

Dependent on [`tkinter`](https://docs.python.org/3/library/tkinter.html) for GUI

capabilities, and [`numpy`](https://www.numpy.org/) for computations.

```bash

python3 rrtstar.py

```

## Desired Features

- [x] Allow movement of start and goal state

- [x] Change radius of goal state

- [x] Add rectangular obstacles

- [ ] Show total number of iterations passed

- [ ] Show cost of shortest path to goal state

- [ ] Allow ability to clear obstacles

- [ ] Add exploration bias

- [ ] Update shortest path if goal state is moved

- [ ] Add restart button