RRT

Overview

For the Northwestern Master of Science in Robotics hackathon, I developed a Rapidly-Exploring Random Tree (RRT) path planning algorithm from scratch. This algorithm is used to find a path from a starting point to a goal point in a potentially complex environment filled with obstacles. Using Python and Matplotlib, I created a simulation that not only generates random obstacles but also visualizes the step-by-step growth of the RRT as it explores the space and finds a path. Each time the algorithm is executed, it generates a new path, making the solution dynamic and unique for every run. I leveraged the insights from the seminal paper “Rapidly-Exploring Random Trees: A New Tool for Path Planning” by Steven M. LaValle to guide the development of this project.