Article
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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)
A peer-reviewed article of this Preprint also exists.
Kang, J.-G.; Choi, Y.-S.; Jung, J.-W. A Method of Enhancing Rapidly-Exploring Random Tree Robot Path Planning Using Midpoint Interpolation. Appl. Sci. 2021, 11, 8483. Kang, J.-G.; Choi, Y.-S.; Jung, J.-W. A Method of Enhancing Rapidly-Exploring Random Tree Robot Path Planning Using Midpoint Interpolation. Appl. Sci. 2021, 11, 8483.
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.
Keywords
robot path planning; RRT; midpoint interpolation; triangular rewiring; path smoothness
Subject
Engineering, Automotive Engineering
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.
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