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rrt

A no-dependency implementation of the RRT algorithm which respects kinodynamic constraints and can be extended to arbitrary models.

RRT Tree with Obstacle

Install

There are no dependencies. Download the source and build with cmake.

Try it out

Build the project to generate the test binaries. Use the rrt-plot library to visualize the model and planner's test results. They're pretty!

Features

  • Time-limited bidirectional RRT which respects kinematic constraints of a user-defined robot model (rrt::planner)
  • Dubins car dynamic model (rrt::models)
  • Support for adding any other model by subclassing from rrt::models::Model, rrt::models::State, and rrt::models::Command
  • CSV logging for arbitrary objects which implement log and log_header methods
  • Tree data structure (rrt::tree)
  • Collision checking betweeen convex polygons (rrt::collision)