RRT Simulator

Dependencies

• Qt5
• Eigen

Compiling

$ git clone https://github.com/mpdmanash/rrt-star-dubins-sim
$ cd rrt-star-dubins-sim/
$ chmod +x build.sh
$ ./build.sh

Run the exectuable as

$ ./bin/motion-planning-demo

Interface

Example of an RRT* motion plan

Path planning by RRT can also address the vehicle dynamic constraints (eg, turn radius)
Thus, the above is an example of a dynamically feasible RRT motion plan for Nonholonomic Robot following Dubins motion model.

Thanks to:
RRT simulator: https://github.com/sourishg/rrt-simulator
Dubins Curves: https://github.com/AndrewWalker/Dubins-Curves

Note: Draw obstacles by clicking and dragging on the field.