Preprint Article Version 3 Preserved in Portico This version is not peer-reviewed

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

Version 1 : Received: 18 November 2020 / Approved: 19 November 2020 / Online: 19 November 2020 (07:34:02 CET)
Version 2 : Received: 21 December 2020 / Approved: 22 December 2020 / Online: 22 December 2020 (14:07:38 CET)
Version 3 : Received: 28 December 2020 / Approved: 29 December 2020 / Online: 29 December 2020 (12:10:47 CET)

A peer-reviewed article of this Preprint also exists.

Kang, J.-G.; Lim, D.-W.; Choi, Y.-S.; Jang, W.-J.; Jung, J.-W. Improved RRT-Connect Algorithm Based on Triangular Inequality for Robot Path Planning. Sensors 2021, 21, 333. Kang, J.-G.; Lim, D.-W.; Choi, Y.-S.; Jang, W.-J.; Jung, J.-W. Improved RRT-Connect Algorithm Based on Triangular Inequality for Robot Path Planning. Sensors 2021, 21, 333.

Journal reference: Sensors 2021, 21, 333
DOI: 10.3390/s21020333

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.

Subject Areas

RRT-Connect; triangular inequality; rewiring; optimality; robot path planning

Comments (1)

Comment 1
Received: 29 December 2020
Commenter: Jin-Gu Kang
Commenter's Conflict of Interests: Author
Comment: Ambiguous words were corrected, and overall English was improved.
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