motion-planning/rrt-algorithms

n-dimensional RRT, RRT* (RRT-Star)

What it solves

This project provides a set of algorithms for solving motion planning problems, allowing an agent to find a collision-free path from a start point to a goal point within an n-dimensional search space containing obstacles.

How it works

It implements several variants of Rapidly-exploring Random Trees (RRT), including RRT, RRT*, Bidirectional RRT*, and RRT-Connect. To improve performance and avoid expensive point-wise collision and distance checks, the library utilizes R-trees for spatial indexing.

Who it’s for

It is designed for developers and researchers working on robotics and motion planning who need a flexible, n-dimensional implementation of sampling-based path planning algorithms.

Highlights

  • Supports multiple RRT variants: RRT, RRT*, Bidirectional RRT*, and RRT-Connect.
  • Scales to n-dimensions.
  • Uses R-trees to optimize performance.
  • Supports axis-aligned hyperrectangles as obstacles by default, with the ability to extend collision checking for other shapes.

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