Matlab implementation of Rapidly-exploring Random Trees

You need to download librobotics from http://srl.informatik.uni-freiburg.de/downloads

The script aims to show the basic funcionalities of RRT, for a nonholonomic differential drive wheeled mobile robot. Motion Primitives are generated using the ODE command provided by MATLAB

-- rrt.m is the main script, where to launch the motion planner

-- extend.m, method to extend the tree

-- checkedge.m, to check a collision on a single edge

-- checkcollision.m, to check a collision on a single configuration

-- nearestTree.m, to find the nearest vertex on the tree

-- randomstate.m, to sample a random configuration in the defined space

-- unicycleKinematics.m, it implements the kinematic model of a unicycle

-- getControls.m, to extract controls from the tree

-- extractpath.m, to extract the obtained path from the tree

-- generateObstacles.m, to generate a scenario