Python RRT*
Python implementation of the RRT* (Rapidly-exploring Random Tree Star) algorithm for optimal path planning in 2D environments with obstacles.
Features
- RRT* algorithm: Asymptotically optimal sampling-based path planner
- Obstacle avoidance: Collision detection with arbitrary 2D polygons
- Path optimization: Rewiring for improved solution quality
- Visualization: Real-time plotting of tree growth and final path
- Configurable parameters: Step size, search radius, goal bias
Algorithm Details
RRT* improves upon the basic RRT algorithm by:
- Selecting best parent node based on cost
- Rewiring existing nodes when better paths are found
- Converging to optimal solution as iterations increase
Ideal for mobile robot navigation and path planning research.