RRT (Rapidly Exploring Random Trees)

This repository contains implementation of RRT (Rapidly exploring Random Trees) path planning algorithm in Python and C++. The code has been documented for better readability and understanding. The start, goal and obstacle co-ordinates can be changed from within the code itself.

Python

The RRT Python folder contains the python file of the algorithm.

Dependencies

• NumPy
• Matplotlib

Running code via command line

1. Change directory to where the code file is
2. Execute command - python rrt_python.py

C++

The RRT C++ folder contains the C++ files of the algorithm. It also contains the Eigen and Matplotlibcpp library files required for the project

Dependencis

• Eigen
• Matplotlib-cpp

Running code via Termial (Ubuntu)

1. Change the directory to where the code files are
2. Execute command - g++ main.cpp -I/path/to/Python.h/file -lpython-version. In my case, the command is - g++ main.cpp -I/usr/include/python3.8 -lpython3.8
3. After successfully executing above command, execute command - ./a.out

Checkout the RRT research paper here