RRT/RRT*

Python implementation of the RRT/RRT* algorithms using pygame.

Prerequisites

pip install -r requirements.txt

Demo

Just run python3 RRT.py from terminal.

• Max Iterations: 500
• 2% Goal Bias
• Algorithm stops once goal state is reached.

Authors

• Devansh Dhrafani

To-Do

• Implement Shortest Path Finding algorithm to find optimal path between start and goal.
• Implement RRT* Algorithm

References

• LaValle, Steven M. "Rapidly-exploring random trees: A new tool for path planning." (1998).