2D/3D RRT* algorithm

Version 1.1.0.0 (4.58 KB) by SAI VEMPRALA

Optimal path planning using rapidly exploring random trees

6.4K Downloads

Updated 5 Jan 2017

Code implementing the RRT* algorithm in both 2D and 3D spaces. 2D version also contains obstacle avoidance given the position and dimensions of an obstacle.
2D/RRTStar.m executes the 2D version of RRT*.
3D/RRTStar_3D.m executes the 3D version.
[1] LaValle, S. M., ‘Rapidly-Exploring Random Trees: A New Tool for Path Planning’, TR 98-11, Computer Science Department, Iowa State University, Oct. 1998.
[2] Karaman, Sertac, and Emilio Frazzoli. "Incremental sampling-based algorithms for optimal motion planning." Robotics Science and Systems VI 104 (2010).

Cite As

SAI VEMPRALA (2026). 2D/3D RRT* algorithm (https://uk.mathworks.com/matlabcentral/fileexchange/60993-2d-3d-rrt-algorithm), MATLAB Central File Exchange. Retrieved January 9, 2026.

MATLAB Release Compatibility

Created with R2016a

Compatible with any release

Platform Compatibility

Windows macOS Linux

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Acknowledgements

Inspired: Belief Space Motion Planning using iLQG

2D/

3D/

Version	Published	Release Notes
1.1.0.0	5 Jan 2017	Minor fixes/improvements Improved readability	Download
1.0.0.0	4 Jan 2017		Download