howardjchen / rrt

This repository contains basic RRT and RRT* implementation of 2D path planning in python

Rapdily-exploration Random Tree(RRT)

This repository contains basic RRT and RRT star implementation of 2D path planning in python OS: Ubuntu 14.04

Installation

Be sure to install pygame module

sudo apt-get install python-pygame

Usage

• Just simply run the command to run RRT

python rrt.py

• Or you could play with RRT star

python rrt_start.py

• You could randomly set the start point and goal in pygame window

For more detail please visit

1. https://www.youtube.com/watch?v=bPeSk6CH5vo
2. https://www.youtube.com/watch?v=M5Q6Fywd36w

rrt's Issues

Sample goal node occasionally

It is a good idea to sample the goal node occasionally, with probablility goal_sample_prob. This speeds up convergence immensely, especially when the Nodes are far apart. (Try starting in top right, goal in bottom left). Current implementation without goal sampling will not converge and run out of nodes, but adding goal sampling converges very fast.