RRT based path planning

Engineering Numerical Aalaysis Final Project(MATLAB R2023b)

RRT(Rapidly-exploring Random Tree) algorithm is designed to efficiently search paths in nonconvex high-dimensional spaces. RRT based path planning expands the tree to a randomly-sampled point in the configuration space while satisfying given constraints.

This project aims to generate paths using the Rapidly-exploring Random Tree (RRT) algorithm. Starting with testing on a virtual map, the project has also successfully been tested on paths extracted from within Yonsei University.

Path Generation and Post Processing

Binary Coded Map & Random Tree in Blue and Generated Path to Ending Point in Red Marker

Generated Path After First & Second Smoothing Process

Verification with Paths in Yonsei University

Generated Path in Yonsei University

Test Map Making

Map Generation Automation with MATLAB Command