Added RRT Algorithm#317
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@rcoder23 please review |
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Rapidly-exploring Random Trees for Robot Path Planning
A robot is attempting to navigate its path from the start point to a specified goal region, while avoiding the set of all obstacles.
In RRT, points are randomly generated within a specified radius and connected to the nearest existing node. Each time a node is created, we check that it lies outside of the obstacles. Furthermore, chaining the node to its closest neighbor must also avoid obstacles. The algorithm ends when a node is generated within the goal region, or a limit is hit.
For issue #300 under gssoc'21