RRT (Rapidly-exploring Random Tree)

RRT (Rapidly-exploring Random Tree) is an algorithm used in robotics and artificial intelligence to find a path from a starting point to a goal, especially in complex spaces with obstacles. It works by randomly sampling points in the environment and gradually building a tree of connected points that explores the space efficiently. When a new point is sampled, the algorithm attempts to connect it to the nearest point already in the tree, ensuring that the path is feasible and avoids obstacles. Over time, the tree grows toward the goal, helping identify a safe and optimal route.