Planning for a Rigid Robot in a Planar World

Here, RRTs are used to path the path for a rigid robot among obstacles in a 2D environment. In addition to these examples, other results appear in: RRT-Connect: An Efficient Approach to Single-Query Path Planning by James J. Kuffner, Jr. and Steven M. LaValle, submitted to 2000 IEEE International Conference on Robotics and Automation.

The task is to being the robot from the configuration shown in red to teh configuration shown in green.

The RRTs are shown (projected from a 3D configuration space by using only xy coordinates of the vertices).

The resulting solution path.

An animation of the solution.

In a different run, an alternative solution is computed due to the randomness.

Another example is shown below.

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