2D/3D RRT* algorithm

Optimal path planning using rapidly exploring random trees

Code implementing the RRT* algorithm in both 2D and 3D spaces. 2D version also contains obstacle avoidance given the position and dimensions of an obstacle.
2D/RRTStar.m executes the 2D version of RRT*.
3D/RRTStar_3D.m executes the 3D version.
[1] LaValle, S. M., ‘Rapidly-Exploring Random Trees: A New Tool for Path Planning’, TR 98-11, Computer Science Department, Iowa State University, Oct. 1998.
[2] Karaman, Sertac, and Emilio Frazzoli. "Incremental sampling-based algorithms for optimal motion planning." Robotics Science and Systems VI 104 (2010).