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)
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. Sensors2021, 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.
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. Sensors2021, 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.
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.
Copyright:
This is an open access article distributed under the Creative Commons Attribution License which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.
Commenter: Jin-Gu Kang
Commenter's Conflict of Interests: Author