Dynamic RRT*

For detailed description go here https://github.com/kedar2017/dynamic-RRT-star/wiki

Dynamic RRT* implementation in C++ with a 2D OpenCV visualizer and support for dynamic obstacles and online replanning.

The project simulates a robot in a 2D world with static and moving obstacles and continuously repairs its RRT* tree to keep a collision-free path to the goal.

Features

• RRT* tree growth with cost-based rewiring
• Dynamic obstacles (moving shapes) and online replanning
• Simple robot + world model driven by a time/update loop
• OpenCV-based visualization of robot, tree, and obstacles
• Tunable parameters (step size, neighborhood radius, thresholds)

Dependencies

• CMake >= 3.0
• C++11 compiler
• OpenCV (4.x recommended)

Build and Run

From the project root:

.. code-block:: bash

mkdir build cd build cmake .. make

The main executable will be placed in bin/:

.. code-block:: bash

./bin/main

Notes

If you hit OpenCV include errors, update the include path in include/Render.h or adjust your CMake/OpenCV installation to match your system.