This is an approach to implement RRT's from scratch, RRT's allow for multi-dimensional path-planning and object-collision-detection.
The code is written entirely without numpy, it simply uses a library which depends on numpy to visualize the tree. Currently the code supports two modes:

• RRT: includes a root-node the tree grows from there until it finds the target area and returns the found path
• bi-RRT: two root nodes are places and an overlap in the branch returns the found path

The algorithm is based and implemented from Rapidly Expanding Random Trees original paper

• RRT* implementation
• make a library