Rapidly Exploring Random Tree Robot Planning

Using Python TK to visualize, point/line robots generate planning trees in their configuration space to maneuvre to the goal point. Uses Python 2.7

Using a uniform distribution to sample points Using a Gaussian distribution to sample points Line robot of length 50px

Usage

Run ./rrt_planner_point_robot.py <image> to generate a world based on the image given and to generate an expanding tree towards the goal.