Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

An Enhancement Method of Rapidly-exploring Random Tree Robot Path Planning using Midpoint Interpolation

Version 1 : Received: 8 July 2021 / Approved: 12 July 2021 / Online: 12 July 2021 (12:05:01 CEST)

How to cite: Kang, J.; Choi, Y.; Jung, J. An Enhancement Method of Rapidly-exploring Random Tree Robot Path Planning using Midpoint Interpolation. Preprints 2021, 2021070254 (doi: 10.20944/preprints202107.0254.v1). Kang, J.; Choi, Y.; Jung, J. An Enhancement Method of Rapidly-exploring Random Tree Robot Path Planning using Midpoint Interpolation. Preprints 2021, 2021070254 (doi: 10.20944/preprints202107.0254.v1).

Abstract

To solve the problem that sampling-based Rapidly-exploring Random Tree (RRT) method is difficult to guarantee optimality. This paper proposed the Post Triangular Processing of Midpoint Interpolation method minimized the planning time and shorter path length of the sampling-based algorithm. The proposed Post Triangular Processing of Midpoint Interpolation method makes a closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. The experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization compared to the planning time.

Subject Areas

robot path planning; RRT; midpoint interpolation; triangular rewiring; path smoothness

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