2D Path Planning with RRT and Graph Algorithms

Overview

This project implements a 2D Path Planning system using the Rapidly-exploring Random Trees (RRT) algorithm. The system explores and navigates through a 2D environment, providing efficient and flexible path planning solutions. Additionally, the project integrates Dijkstra's algorithm and A* algorithm to find the shortest paths within the generated RRT.

Features

• Rapidly-exploring Random Trees (RRT): Efficiently explores the configuration space and generates a tree structure for path planning.
• Graph Algorithms Integration: Incorporates Dijkstra's and A* algorithms for finding shortest paths within the RRT.
• 2D Environment: Utilizes a 2D environment with obstacles, allowing the system to navigate around them.
• Visualization: Provides visualization tools for observing the RRT, shortest paths, and the overall path planning process.

Example Paths

Generated paths using the Djikstra and A-star algorithms.