This is a C++ implementation of a Rapidly exploring Random Tree planner for 2D path planning of an unconstrained mobile robot. The environment consists of square and circular obstacles which move in simple pre-defined paths. The planner has local repair capability to modify parts of the tree which are in collision with the obstacles.
C ++ 11 compiler
CMAKE version 3.0
OpenCV version 3.0
In the root directory, exectute the following
$ mkdir build && cd build
$ cmake ..
$ make -j2