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Rapidly Exploring Random Tree (RRT)

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Olzhas edited this page Dec 14, 2015 · 4 revisions

Rapidly-Exploring Random Tree is a sampling-based motion/path planning algorithm.

The main advantage over other motion/path planning algorithms is the ability to solve high-dimensional problems such as problems of motion planning for redundant manipulators and problems of motion planning for dynamical models such as cars.

Next goes the brief explanation of the workflow of RRT algorithm.

RRT pseudo code

Firstly, we initialize the tree. Then we add the initial configuration.
RRT Brief Explanation (YouTube)

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