Exercise 3: Sampling-based planning

Paper Exercises

This exercise explores:

• Search trees
• The RRT and RRT* algorithms
• Interpolation of paths from search trees

Paper exercises and solutions can be found in the exercise compendium Download exercise compendium.

It is recommended that you complete this paper exercises before moving on to the computer exercise.

Computer Exercises

In this exercise you will implement the RRT and RRT*-algorithms. You will also make a comparison between them in terms of their optimality. Note that the RRT algorithm is a prerequisite for Lab 1.