# Rapidly-Exploring Random Trees (RRT) — PythonRobotics documentation

# Rapidly-Exploring Random Trees (RRT)

## Basic RRT

This is a simple path planning code with Rapidly-Exploring Random Trees (RRT)

Black circles are obstacles, green line is a searched tree, red crosses are start and goal positions.

## RRT*

This is a path planning code with RRT*

Black circles are obstacles, green line is a searched tree, red crosses are start and goal positions.

### Simulation

### Ref

- Sampling-based Algorithms for Optimal Motion Planning

- Incremental Sampling-based Algorithms for Optimal Motion Planning

## RRT with dubins path

Path planning for a car robot with RRT and dubins path planner.

## RRT* with dubins path

Path planning for a car robot with RRT* and dubins path planner.

## RRT* with reeds-sheep path

Path planning for a car robot with RRT* and reeds sheep path planner.

## Informed RRT*

This is a path planning code with Informed RRT*.

The cyan ellipse is the heuristic sampling domain of Informed RRT*.

Ref:

- Informed RRT*: Optimal Sampling-based Path Planning Focused via Direct Sampling of an Admissible Ellipsoidal Heuristic

## Batch Informed RRT*

This is a path planning code with Batch Informed RRT*.

Ref:

- Batch Informed Trees (BIT*): Sampling-based Optimal Planning via the Heuristically Guided Search of Implicit Random Geometric Graphs

## Closed Loop RRT*

A vehicle model based path planning with closed loop RRT*.

In this code, pure-pursuit algorithm is used for steering control,

PID is used for speed control.

Ref:

- Motion Planning in Complex Environments using Closed-loop Prediction

- Real-time Motion Planning with Applications to Autonomous Urban Driving

- [1601.06326] Sampling-based Algorithms for Optimal Motion Planning Using Closed-loop Prediction

## LQR-RRT*

This is a path planning simulation with LQR-RRT*.

A double integrator motion model is used for LQR local planner.

Ref:

- LQR-RRT*: Optimal Sampling-Based Motion Planning with Automatically Derived Extension Heuristics

- MahanFathi/LQR-RRTstar: LQR-RRT* method is used for random motion planning of a simple pendulum in its phase plot