This is an RRT implementation for a finite volume robot with kinodynamic constraints.
Run the file RunMe.m in Matlab (R2009b+)
Make sure the files: (a). CollisionFree (b). H5_robot.txt (c). Near (d). Nearest (e). ObstacleFree (f). RRTs (g). Steer (h). Steer2 (i). circle (j). circleExtrude (k) confun (l) mat_file_cal (Not required by RunMe; Needed for CSV file generation) (m) plotObstacle (n) plotObstacleExtrude (o) robot are in the same folder.
mat_file_cal creates CSV files which contains the time, position (x,y), theta, velocity, omega, acceleration and gamma (steer acc) in the respective order.