Autonomous Path Planning using RRT Algorithm

The project concern with application of RRT algoritham in static obstacle enivornment. Rapidly Exploring Random Trees (RRT) is a sampling-based algorithm commonly used in motion planning and robotics. It efficiently constructs a tree structure by iteratively expanding nodes in the configuration space of a system, exploring the space in a randomized manner.

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RRT starts with an initial configuration and then repeatedly generates random configurations. These configurations are connected to the existing tree by extending from the nearest node towards the random configuration, resulting in the growth of the tree. The algorithm biases the sampling towards unexplored regions, promoting rapid exploration of the configuration space.

The main objective bhinde this project is to determine; a) shortest path obtained, b) minimum uncertainty at the terminal state across all trials & c) maximum uncertainty at the terminal state across all trials.