Why it matters

RRT enables high-dim motion planning. Understanding shapes robotics.

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The architecture

Sample random point.

Find nearest in tree.

Steer step toward sample.

Add if collision-free.

RRT tree growthRandom samplepoint in spaceNearest nodein treeSteer + addif validRRT* is asymptotically optimal variant; kinodynamic RRT for dynamics
RRT.
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How it works end to end

LaValle 1998.

Bias toward goal.

RRT*: rewire for optimality.

Kinodynamic + informed variants.