Rapidly-exploring random tree (RRT)

on 17 Oct 2021

% Graphic inspired by the "BuildRRT" function of:

% LaValle, Steven M. (October 1998). "Rapidly-exploring random trees: A new tool for path planning"

% The origin is (0,0)

figure('Color','k')

l=5000;

a=zeros(l,2);

for i=2:l

b=200*(rand(1,2)-.5);

[~,w]=min(sum((a-b).^2,2));

n=a(w,:);

k=atan2(b(2)-n(2),b(1)-n(1));

c=[n(1)+cos(k) n(2)+sin(k)];

a(i,:)=c;

plot([n(1) c(1)],[n(2) c(2)],'g','Linew',2)

hold on

end

axis off square