Lecture 14 - Rapidly-exploring Random Tree (RRT)

Overview:

This lecture goes over a more complex path planning algorithm. It takes into account obstacle avoidance when planning a path from the vehicle’s current position to the desired goal position. We will go over different graph/tree search algorithms such as best first search, A*, and Dijkstra’s.

Topics Covered:

• Occupancy grids

• RRT

• Search algorithms

• A*, Dijkstra’s, BFS

Associated Assignment:

• Lab 7: Motion Planning (RRT)

Slides:

Links to additional resources:

• Sampling-based Algorithms for Optimal Motion Planning

  • Sections 3.1 and 3.2, and Algorithms 3, 3.3, and 6