motion-planner

Sampling-based motion planning for robotic manipulators in configuration space.

Algorithms

• RRT — grows one tree toward random samples
• RRT-Connect — bidirectional search with greedy connection
• RRT* — asymptotically optimal variant with rewiring

All solvers implement Solver<N> for fixed configuration dimension N (typical for arms: 6 or 7).

Quick start

cargo run --bin arm-planner-demo
cargo test

License

MIT OR Apache-2.0