The flowchart of BTO-RRT algorithm:

MATLAB >= 2019a

To run and see the effect of BTO-RRT algorithm immediately on 2d maps, you can run code/final_algorithm_2D/main_v4_core.m

You should be able to see the following:

You can change the following load settings in the code line 2-7 and see more:

%% load settings
name = 'map7';
%name = 'BTO_example';
% type = '.jpg';
type = '.bmp';
%type= '.png';

To run and see the effect of BTO-RRT algorithm immediately on 3d point cloud maps, you can run code/pointcloud_3D/pointcloud_RRTV2m_1.m

You should see something similar to the following:

If you run code/pointcloud_3D/pointcloud_RRTV2m_2.m, you should see two figures as follow:

To see the fig. 3 in the paper, please run code/Analysis/down_sample/test1.m

You should something similar to the fig.3:

To see fig. 4, please run code/Analysis/up_sample/test4_upsample.m and by changing the code at line 22:

itermax = 100; % 10 or 1000

You should see the following figures with different itermax