What does RRT mean?

Rapidly-exploring Random Tree: a sampling planner that grows a tree from the start by repeatedly picking a random point, finding the nearest node, and stepping a short distance towards the point if that step is collision free. It suits spaces too large to divide into a grid.

Also written as: RRTs, Rapidly-exploring Random Tree

In a lesson

The Rapidly-exploring Random Tree, from LaValle in 1998, grows one tree from the start.

Learn it

• Taught in U9.6 Sampling: the RRT Planning, University

Used in

• U8.7 Project: map the mat

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