# matlab-rrt-variants

**Repository Path**: dadatuYHD/matlab-rrt-variants

## Basic Information

- **Project Name**: matlab-rrt-variants
- **Description**: RRT*, RRT-connect, lazy RRT and RRT extend have been implemented for 2d and 3d c-spaces with visualization
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 2
- **Forks**: 1
- **Created**: 2021-07-05
- **Last Updated**: 2024-03-14

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

matlab-rrt-variants
===================

RRT*, RRT-connect, lazy RRT and RRT extend have been implemented for 2d and 3d c-spaces with visualization

#General Information:

This is a basic yet meaningful implementation of RRT and its variants in Matlab.

#How to run
All you need to do is fire up the benchmarkRRT.m file, it is pretty self explanatory.

# Specify the number of runs for each planner
* num_of_runs =1;

# Specify if we want to run the specific planner or not, 1 for yes and 0 for no.
* run_RRTconnect =0 or 1; 
* run_RRTextend = 0 or 1;
* run_LazyRRT = 0 or 1;
* run_RRTstar = 0 or 1;

# Specify whether to run the planner in 2D or 3D (only for now)
* dim = 3;

# Specify the step size, the world is 100 \* 100 for 2D and 100 \* 100 \*100 for 3D 
* stepsize = [10];

# Specify whether to use random obstacles or to use pre programmed obstacles
* random_world = 0 or 1;

# For RRT* only
*radius = 10;
*samples = 4000;

# Showing output or not
*show_output = 0 or 1;
*show_benchmark_results = 0 or 1;