A* vs RRT vs Informed RRT*

Three motion planning algorithms on a shared 2D obstacle map

A* — grid search ready

RRT ready

Informed RRT* ready

Cells explored—

Path (cells)—

Result—

RRT

Tree nodes—

Path (waypoints)—

Result—

Informed RRT*

Tree nodes—

Best cost—

Iterations—

Start (S)

Goal (G)

A* explored

A* frontier

RRT tree

RRT* tree

– –ellipse

Path

Obstacle

Click Run all to animate. The teal ellipse on Informed RRT* shrinks as it finds shorter paths.