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Improved RRT-Connect Algorithm Based on Triangular Inequality for Robot Path Planningopen access
- Issue Date
- Jan-2021
- Publisher
- MDPI
- Keywords
- RRT-Connect; triangular inequality; rewiring; optimality; robot path planning
- Citation
- SENSORS, v.21, no.2, pp 1 - 34
- Pages
- 34
- Indexed
- SCIE
SCOPUS
- Journal Title
- SENSORS
- Volume
- 21
- Number
- 2
- Start Page
- 1
- End Page
- 34
- ISSN
- 1424-8220
1424-3210
- Abstract
- This paper proposed a triangular inequality-based rewiring method for the rapidly exploring random tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm's performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.
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Related Researcher
- Jung, Jin Woo
- College of Advanced Convergence Engineering (Department of Computer Science and Artificial Intelligence)