An Implementation of RRT* from "Incremental Sampling-based Algorithms for Optimal Motion Planning" by Karaman et al. 2010.
A similar demonstration is shown in this robotics lecture from the University of Houston, and is also hosted on Wolfram.
Dependent on tkinter for GUI
capabilities, and numpy for computations.
python3 rrtstar.py- Allow movement of start and goal state
- Change radius of goal state
- Add rectangular obstacles
- Show total number of iterations passed
- Show cost of shortest path to goal state
- Allow ability to clear obstacles
- Add exploration bias
- Update shortest path if goal state is moved
- Add restart button