RRT Brief Explanation

[@leonrai2899]

why the down votes, this is a really good explanation. it's not a cat video. no need to hate if you can't do a better version

[@boluwatifeberida9702]

Very nice explanation, but you didn't add that you keep moving towards q_rand in steps of e (=step_size) until you reach q_rand, rather than just one step. The only thing that could this movement is if an intermediate node q causes collision with an obstacle.

[@pooya130]

Hi, I have two questions: 1) Is qrand's distance relevant or we only care about direction? 2) What is the point of finding random nodes in the vicinity of qr? What is the goal of the algorithm? Thank you...

[@OlzhasA]

1) don't care at this stage about the distance of direction, we just propose a random state. 2) we use it to explore the state space of the define problem. The goal is defined by a user.

[@van-vivo1171]

How about the case, we found a new node which is in a collision-free area, but the path from the nearest node to the new node collide with the obstacle? In this case, we will ignore the path and the new node or only the path? Thank you

[@OlzhasA]

in that case you don't add anything to the tree, and start a new iteration.

[@van-vivo1171]

@@OlzhasA Ahh, I got it. Thank you so much

[@van-vivo1171]

if a random node which is generated in an obstacle area, we will keep that iteration or start a new iteration to generate a new random node?

[@OlzhasA]

It is not a valid node, hence proceed to the next iteration.

[@korean4130]

how are those random nodes generated? Any specific/dominant way or any other ways..?

[@OlzhasA]

the state would be generated with a pseudorandom number generator. The example of a state is a vector. So, if your state is a 2D vector, you just generate 2 numbers in some boundaries.

[@korean4130]

Thank you!

[@eyafgaier422]

very nice explained ! thanks !

[@miguelmg8791]

Thanks now its clear for me

[@vinaybysani]

Not to offend. But why repeated opening and closing of markers. Why dont u just open and hold it bro.

[@mmaragann701]

finally a good one! thank you

[@cligmanowski]

Thanks man !! Really good !

[@akashjain6690]

thanksman... it helped a lot

[@andreabenetti5299]

Thanks!

[@suyogyamehta4940]

Handsome😍😍

[@Dannfrds]

thanks

[@OlzhasA]

+Dannrawr welcome =)

[@Dannfrds]

how to change figure on the matlab?

[@duco3872]

hoi kaj

[@maxrtruth5406]

We're W

[@lisamarkos7019]

Hi Hi Hi hello hello u

[@asma-dr9hg]

RRT. Tormarhira Tormar suna Munafik