• ompl
• opencv2
• sdl2

• The file simpleRRTStar.h contains code for rrt* on stationary scenes, this can be extended to 3 dimensions by adding a new bound in the state space.
• The file armRRTStar.h contains code for rrt* on robots with higher DOF scenes.
• The file PathEngine.h contains code for rrt* on dynamic scenes. It inherits Engine.h
• Extend the class Engine.h to create custom scenes. And extend the class Robot.h to create custom robots.
• globals.h contains important constants, for example DELTA_TIME for the simulation of dynamic scenes.

Motion planning algorithms play a pivotal role in robotics, with many state-of-the-art algorithms and planners available across multiple platforms and libraries. One of the algorithms is the Rapidly exploring random tree (RRT) and RRT* algorithms, known for its probabilistic completeness and asymptotic optimality. However, RRT* itself introduces computational complexities and limitations. This project presents a comprehensive investigation into the constraints of RRT*. We conduct various experiments on a variety of scenarios in which the algorithm might be used, including 2 and 3-dimensional spaces, as well as stationary and dynamic scenes, using Intel's VTune profiler. Additionally, a state-of-the-art implementation of the Open Motion Planning Library (OMPL) is detailed. The project concludes with insights into the algorithm's performance, laying the foundation for future enhancements and applications.