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22 lines
561 B
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RRT\*
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~~~~~
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.. figure:: https://github.com/AtsushiSakai/PythonRoboticsGifs/raw/master/PathPlanning/RRTstar/animation.gif
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This is a path planning code with RRT\*
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Black circles are obstacles, green line is a searched tree, red crosses are start and goal positions.
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Simulation
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^^^^^^^^^^
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.. image:: rrt_star/rrt_star_1_0.png
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:width: 600px
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Ref
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^^^
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- `Sampling-based Algorithms for Optimal Motion Planning <https://arxiv.org/pdf/1105.1186.pdf>`__
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- `Incremental Sampling-based Algorithms for Optimal Motion Planning <https://arxiv.org/abs/1005.0416>`__
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