iRRT is a simple java program for simulating the widely used robotics path planning algorithm known as Rapidly-exploring Random Tree or RRT. The algorithm was originally developed by Steven M. LaValle and James Kuffner. iRRT also implements a variant of RRT called RRT*, an algorithm developed by Sertac Karaman and Emilio Frazzoli. Another variant which has been named RRT+ is a by-product of the development of this tool.

To run the simulator download iRRT.

Following are some videos of iRRT.

Part 1: The algorithms

Part 2: Drawing and saving map

Part 3: Path planning simulation on map drawn on part 2

Part 4: Simulation on other maps

 

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