An Analysis of RRT*-based Algorithms in a Dynamic, Unpredictable 2D Environment

Object-Oriented Programming

The Tree class handles all tree operations including growth (sampling, steering, connecting, rewiring), collision detection, cost propogation, forced node deletion, branch removal, rerooting, reconnecting, and regrowing. All methods required for obstacle-free RRT*, RRT*FN, and RRT*FND are included here.

The Obstacle class handles the motion of obstacles (random changes in direction and rebounding), obstacle-level collision detection, and plotting.