This repository includes an implementation of RRT used to solve the path planning problem for four different vehicle motion models. The RRT implementation differs for each motion model in the way the nearest node is chosen when a random point is sampled.
The first motion model only has bounded velocity, the second has bounded velocity and acceleration, the third is a differential drive model (e.g. tank movement) and the fourth is a car model with a maximum turning angle depending on the car length and steering angle.
For collision avoidance, a simple raycasting algorithm is implemented (see https://www.geeksforgeeks.org/how-to-check-if-a-given-point-lies-inside-a-polygon/) to check whether a point is in a polygon (obstacle). Note that it is assumed that the vehicle has point mass.
The implementation is done in Unity 2017.3.0f3 using C#.