RRT* algorithm on a race car (180 degree turn)
RRT* algorithm is implemented for race car dynamics. In this problem instance, the car enters a sharp 180-degree turn fairly fast; the objective is to turn around the corner as fast as possible while staying within the road. The dynamical system is the non-linear single-track model (9 dimensional state-space).
For more information see
http://ares.lids.mit.edu/rrtstar