Planning for a Point Robot in a Planar World

RRTs can be applied to solve the simple problem of determining how to get from one place to another in a 2D cluttered environment. Of course, there are many other techniques that can solve this problem.

A cluttered 2D envoronment.

RRTs that were grown from initial and goal positions. The RRT grown from the initial position is shown in blue; the other is red.

The two RRTs meet in the middle, and the following path is obtained.

In a separate run, a different path is obtained due to the randomness.

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