%??Rahul?Kala?IIIT?Allahabad?Creative?Commons?Attribution-ShareAlike?4.0?International?License.?
%?The?use?of?this?code?its?parts?and?all?the?materials?in?the?text;?creation?of?derivatives?and?their?publication;?and?sharing?the?code?publically?is?permitted?without?permission.?
%?Please?cite?the?work?in?all?materials?as:?R.?Kala?（2014）?Code?for?Robot?Path?Planning?using?Bidirectional?Rapidly-exploring?Random?Trees?Indian?Institute?of?Information?Technology?Allahabad?Available?at:?http://rkala.in/codes.html

map=im2bw（imread（‘map1.bmp‘））;?%?input?map?read?from?a?bmp?file.?for?new?maps?write?the?file?name?here
source=[20?20];?%?source?position?in?Y?X?format
goal=[450?450];?%?goal?position?in?Y?X?format
stepsize=20;?%?size?of?each?step?of?the?RRT
disTh=20;?%?nodes?closer?than?this?threshold?are?taken?as?almost?the?same
maxFailedAttempts?=?10000;
display=true;?%?display?of?RRT

%%%%%?parameters?end?here?%%%%%

tic;
if?~feasiblePoint（sourcemap）?error（‘source?lies?on?an?obstacle?or?outside?map‘）;?end
if?~feasiblePoint（goalmap）?error（‘goal?lies?on?an?obstacle?or?outside?map‘）;?end
if?display?imshow（map）;rectangle（‘position‘[1?1?size（map）-1]‘edgecolor‘‘k‘）;?end
RRTree1=double（[source?-1]）;?%?First?RRT?rooted?at?the?source?representation?node?and?parent?index
RRTree2=double（[goal?-1]）;?%?Second?RRT?rooted?at?the?goal?representation?node?and?parent?index
counter=0;
tree1ExpansionFail=false;?%?sets?to?true?if?expansion?after?set?number?of?attempts?fails
tree2ExpansionFail=false;?%?sets?to?true?if?expansion?after?set?number?of?attempts?fails
while?~tree1ExpansionFail?||?~tree2ExpansionFail??%?loop?to?grow?RRTs
????if?~tree1ExpansionFail?
????????[RRTree1pathFoundtree1ExpansionFail]=rrtExtend（RRTree1RRTree2goalstepsizemaxFailedAttemptsdisThmap）;?%?RRT?1?expands?from?source?towards?goal
????????if?~tree1ExpansionFail?&&?isempty（pathFound）?&&?display
????????????line（[RRTree1（end2）;RRTree1（RRTree1（end3）2）][RRTree1（end1）;RRTree1（RRTree1（end3）1）]‘color‘‘b‘）;
????????????counter=counter+1;M（counter）=getframe;
????????end
????end
????if?~tree2ExpansionFail?
????????[RRTree2pathFoundtree2ExpansionFail]=rrtExtend（RRTree2RRTree1sourcestepsizemaxFailedAttemptsdisThmap）;?%?RRT?1?expands?from?goal?towards?source
????????if?~isempty（pathFound）?pathFound（3:4）=pathFound（4:-1:3）;?end?%?path?found
????????if?~tree2ExpansionFail?&&?isempty（pathFound）?&&?display
????????????line（[RRTree2（end2）;RRTree2（RRTree2（end3）2）][RRTree2（end1）;RRTree2（RRTree2（end3）1）]‘color‘‘r‘）;
????????????counter=counter+1;M（counter）=getframe;
????????end
????end
????if?~isempty（pathFound）?%?path?found
?????????if?display
????????????line（[RRTree1（pathFound（13）2）;pathFound（12）;RRTree2（pathFound（14）2）][RRTree1（pathFound（13）1）;pathFound（11）;RRTree2（pathFound（14）1）]‘color‘‘green‘）;
????????????counter=counter+1;M（counter）=getframe;
????????end
????????path=[pathFound（11:2）];?%?compute?path
????????

?屬性????????????大小?????日期????時間???名稱
-----------?---------??----------?-----??----
?????目錄???????????0??2018-05-21?10:22??bidirectional?RRT\
?????目錄???????????0??2018-05-21?10:22??bidirectional?RRT\bidirectional?RRT\
?????文件????????3801??2018-01-24?17:22??bidirectional?RRT\bidirectional?RRT\astart.m
?????文件??????194852??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\bidirectional?RRT.pdf
?????文件????????1024??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\checkPath.m
?????文件?????????603??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\distanceCost.m
?????文件?????????768??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\feasiblePoint.m
?????文件??????251078??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\map1.bmp
?????文件??????251078??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\map2.bmp
?????文件??????251078??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\map3.bmp
?????文件??????251078??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\map4.bmp
?????文件??????251078??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\map5.bmp
?????文件??????251080??2017-11-08?11:19??bidirectional?RRT\bidirectional?RRT\map6.bmp
?????文件????????2114??2014-06-06?15:35??bidirectional?RRT\bidirectional?RRT\rrtExtend.m