RRT-series-Test

MATLAB codes of RRT, RRT* and Smart-RRT*.

Usage

Run the file 'main.m'.

Parameter for Algorithm

start: position of the start
goal: position of the goal
alg: algorithm to use ( 1 = RRT ; 2 = RRT* ; 3 = Smart RRT* )
epsilon: max step length between nodes
max_nodes_num: max number of nodes to be arranged
radius: radius for ChooseParent and Rewire in RRT*
bias_radius: for Smart-RRT*
bias_step: for Smart-RRT*

Parameter for Scene Setting

map_size: size of the scene
obs_num: number of obstacles (overlap is ok)
obs_size_min: minimum size of each obstacle
obs_size_max: maximum size of each obstacle

Result

RRT	RRT*	Smart-RRT*