Expand description
RRG (Rapidly-exploring Random Graph) path planning algorithm
Like RRT* but keeps ALL collision-free edges within the rewiring radius, maintaining a graph structure instead of a tree. This gives asymptotic optimality and stronger graph connectivity for multi-query planning.
Structsยง
- Area
Bounds - Axis-aligned bounding box for the sampling area.
- Circle
Obstacle - Circular obstacle described by centre and radius.
- RRGConfig
- Configuration for
RRGPlanner. - RRGNode
- A node in the RRG graph.
- RRGPlanner
- RRG planner.