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Author:AdnanMunawar(amunawar@wpi.edu)RRT*,RRT-connect,lazyRRTandRRTextendhavebeenimplementedfor2dand3dc-spaceswithvisualization
GeneralInformation:ThisisabasicyetmeaningfulimplementationofRRTanditsvariantsinMatlab.
HowtorunAllyouneedtodoisfireupthebenchmarkRRT.mfile,itisprettyselfexplanatory.
Specifythenumberofrunsforeachplannernum_of_runs=1;Specifyifwewanttorunthespecificplannerornot,1foryesand0forno.run_RRTconnect=0or1;run_RRTextend=0or1;run_LazyRRT=0or1;run_RRTstar=0or1;Specifywhethertoruntheplannerin2Dor3D(onlyfornow)dim=3;Specifythestepsize,theworldis100*100for2Dand100*100*100for3Dstepsize=[10];Specifywhethertouserandomobstaclesortousepreprogrammedobstaclesrandom_world=0or1;ForRRT*onlyradius=10;samples=4000;Showingoutputornotshow_output=0or1;show_benchmark_results=0or1;
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