Module rrt_star_dubins 

RRT*-Dubins path planner

Combines the RRT* (optimal RRT) algorithm with Dubins curve connections for non-holonomic vehicle path planning. Extends the RRT-Dubins planner with near-node rewiring so the tree converges toward an optimal solution.

Each node carries a heading angle (x, y, yaw), and collision checking is performed along the sampled Dubins curve. The key additions over plain RRT-Dubins are:

• choose_parent: picks the lowest-cost parent among nearby nodes.
• rewire: redirects nearby nodes through the new node when beneficial.

References

• Karaman, S. and Frazzoli, E. (2011). “Sampling-based algorithms for optimal motion planning.” IJRR.
• Dubins, L.E. (1957). “On Curves of Minimal Length with a Constraint on Average Curvature.”

Structs

RRTStarDubinsConfig

Configuration for the RRT*-Dubins planner.

RRTStarDubinsPath

Result of a successful RRT*-Dubins planning run.

RRTStarDubinsPlanner

RRT* path planner using Dubins curves for steering.