• Qt5
• Eigen

$ git clone https://github.com/pranav083/rrt-dubins-sim
$ cd rrt-dubins-sim/
$ chmod +x build.sh
$ ./build.sh

Run the exectuable as

$ ./bin/motion-planning-demo

Path planning by RRT can also address the vehicle dynamic constraints (eg, turn radius)
Thus, the above is an example of a dynamically feasible RRT motion plan for Nonholonomic Robot following Dubins motion model.

Example of an RRT* motion plan

Thanks to:
RRT simulator: https://github.com/sourishg/rrt-simulator
Dubins Curves: https://github.com/AndrewWalker/Dubins-Curves

Note: Draw obstacles by clicking and dragging on the field.