Module rrt_star_reeds_shepp 

RRT*-Reeds-Shepp path planner

Combines the RRT* (optimal RRT) algorithm with Reeds-Shepp curve connections for non-holonomic vehicle path planning. Unlike the Dubins variant, the vehicle can move both forward and backward.

The key additions over plain RRT-Reeds-Shepp are:

• choose_parent: picks the lowest-cost parent among nearby nodes.
• rewire: redirects nearby nodes through the new node when beneficial.
• try_goal_path: after adding each node, attempts a direct connection to the goal.

References

• Karaman, S. and Frazzoli, E. (2011). “Sampling-based algorithms for optimal motion planning.” IJRR.
• Reeds, J.A. and Shepp, L.A. (1990). “Optimal paths for a car that goes both forwards and backwards.”

Structs

RRTStarRSConfig

Configuration for the RRT*-Reeds-Shepp planner.

RRTStarRSNode

A node in the RRT*-Reeds-Shepp tree, carrying position and heading.

RRTStarRSPath

Result of a successful RRT*-Reeds-Shepp planning run.

RRTStarRSPlanner

RRT* path planner using Reeds-Shepp curves for steering.