RRT* 3D

Problem Statement

RRT* incrementally builds a tree in continuous space and asymptotically improves path cost through rewiring.

Model and Formulation

At each iteration:

Sample random state x_rand
Extend nearest node toward sample
Choose parent minimizing local cost
Rewire neighbors if new path improves their cost

As iterations grow, solution cost converges toward optimal.

Practical Notes

Goal bias improves convergence speed.
Step size controls exploration granularity.
Collision checks dominate runtime.

Implementation and Execution

bash

python -m uav_sim.simulations.path_planning.rrt_star_3d

Evidence

References