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