Rapidly Exploring Random Tree (RRT) and RRT*

tree type

Random Tree

RRT

*

RRT

obstacle type

narrow passage

number of nodes to add:

1

10

100

200

500

exploration bias

0

goal radius

1

A rapidly exploring random tree (RRT) grows a tree rooted at a start node. RRTs are designed to efficiently explore paths in a high-dimensional space. This Demonstration lets you compare random trees (RTs), RRTs and RRT*. An RT selects a node at random from the tree and adds an edge in a random direction, but an RRT first selects a goal point, then tries to add an edge from the closest node in the tree toward the goal point. RRT* improves on this by rewiring the tree to form shortest paths. Drag the goal locator to search for a path.