Preprint
Article

Improved RRT-Connect Algorithm Based on Triangular Inequality for Robot Path Planning

This version is not peer-reviewed.

Submitted:

21 December 2020

Posted:

22 December 2020

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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.
Keywords: 
RRT-Connect; triangular inequality; rewiring; optimality; robot path planning
Subject: 
Engineering  -   Automotive Engineering
Copyright: This open access article is published under a Creative Commons CC BY 4.0 license, which permit the free download, distribution, and reuse, provided that the author and preprint are cited in any reuse.

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