# rrt_toolbox

**Repository Path**: trickycq/rrt_toolbox

## Basic Information

- **Project Name**: rrt_toolbox
- **Description**: RRT, RRT*, RRT*FN algorithms for MATLAB
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 1
- **Forks**: 0
- **Created**: 2019-12-04
- **Last Updated**: 2023-08-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

[![DOI](https://zenodo.org/badge/doi/10.5281/zenodo.45633.svg)](http://dx.doi.org/10.5281/zenodo.45633)

MATLAB implementation of RRT, RRT\* and RRT\*FN algorithms.
================================================================

## What is RRT, RRT\* and RRT\*FN

- RRT (Rapidly-Exploring Random Tree) is a sampling-based algorithm for
solving path planning problem. RRT provides feasable solution
if time of RRT tends to infinity.

- RRT\* is a sampling-based algorithm for solving motion planning problem,
which is an probabilistically optimal variant of RRT. RRT* converges to the optimal solution asymptotically.

- RRT\*FN is a sampling-based algorithm based on RRT\*.
RRT\*FN inherents asymptotical convergence to the optimal solution,
however RRT\*FN implements it using less memory.

## How to use
The original package contains 3 files containing algorithm

- rrt.m
- rrt\_star.m
- rrt\_star\_fn.m

and 2 files containing classes that enable algorithm to solve
problems for simple 2D mobile robot model and nDOF Redundant Manipulator
- FNSimple2D.m 
- FNRedundantManipulator.m

One can add other additional models implementing all methods mentioned in
rrt.m, rrt\_star.m, rrt\_star\_fn.m

## Authors
- Olzhas Adiyatov oadiyatov[at]nu.edu.kz
- Atakan Varol

(c) 2013