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RRT*, RRT-connect, lazy RRT and RRT extend have been implemented for 2d and 3d c-spaces with visualization

This is a basic yet meaningful implementation of RRT and its variants in Matlab.

All you need to do is fire up the benchmarkRRT.m file, it is pretty self explanatory.

• num_of_runs =1;

• run_RRTconnect =0 or 1;
• run_RRTextend = 0 or 1;
• run_LazyRRT = 0 or 1;
• run_RRTstar = 0 or 1;

• dim = 3;

• stepsize = [10];

• random_world = 0 or 1;

• radius = 10;
• samples = 4000;

• show_output = 0 or 1;
• show_benchmark_results = 0 or 1;