Understanding RRT and RRT*: How Random Sampling Helps Robots Find a Path, and What Makes the Path Shorter

Deep Blue AI's "Algorithm Explained" column published an article explaining the two sampling-based planning algorithms RRT and RRT*: RRT uses random sampling, finding the nearest node, expanding toward the sampled direction, and collision detection to grow a tree from the start toward the goal, addressing the difficulty of enumerating high-dimensional configuration spaces in advance.