Leveraging C++ for Efficient Motion Planning: RRT Algorithm for Robotic Arms
Talkat CppCon 2024 · on Thursday, 2024-09-19· at 15:50· Spruce 3/4, 6700 North Gaylord Rockies Boulevard·
summary
C++ implementation of an RRT motion planner that reads an OpenCV binary map input, builds a tree of Node objects stored as a vector of node pointers, and extends toward samples by a fixed step distance while checking collisions via 100-point linear interpolation collision checks. Uses goal biasing (biased sampling toward goal) and a configurable sampling cap (demo used up to 5000 samples); worked end-to-end on 2D maps but required careful pointer management and OOP discipline to avoid hard-to-find bugs.
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