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Code implementing the RRT* algorithm in both 2D and 3D spaces. 2D version also contains obstacle avoidance given the position and dimensions of an obstacle.
2D/RRTStar.m executes the 2D version of RRT*.
3D/RRTStar_3D.m executes the 3D version.
[1] LaValle, S. M., ‘Rapidly-Exploring Random Trees: A New Tool for Path Planning’, TR 98-11, Computer Science Department, Iowa State University, Oct. 1998.
[2] Karaman, Sertac, and Emilio Frazzoli. "Incremental sampling-based algorithms for optimal motion planning." Robotics Science and Systems VI 104 (2010).
Cite As
SAI VEMPRALA (2026). 2D/3D RRT* algorithm (https://se.mathworks.com/matlabcentral/fileexchange/60993-2d-3d-rrt-algorithm), MATLAB Central File Exchange. Retrieved .
Acknowledgements
Inspired: Belief Space Motion Planning using iLQG
General Information
- Version 1.1.0.0 (4.58 KB)
MATLAB Release Compatibility
- Compatible with any release
Platform Compatibility
- Windows
- macOS
- Linux
