RRT (Rapidly-exploring Random Tree) Algorithm: A Fundamental Approach to Robot Path Planning

In the field of robot path planning, the RRT (Rapidly-exploring Random Tree) algorithm serves as a fundamental approach, renowned for its straightforward implementation. The algorithm operates by randomly sampling points within the free configuration space and incrementally building a tree structure through connections between each new sample and its nearest existing node in the tree. Implementation typically involves key functions such as random sampling in free space, nearest neighbor search using distance metrics, and collision detection for valid path segments. While the algorithm demonstrates limitations in handling complex environments with narrow passages or dynamic obstacles, its simplicity and efficiency make it an ideal introductory algorithm for researchers entering the field. The basic RRT workflow can be coded with minimal components: a tree data structure, sampling function, and collision checking module, making it accessible for educational purposes and rapid prototyping.