Post Triangular Rewiring Method for Shorter RRT Robot Path Planning

This paper proposed the “post triangular rewiring” method that minimizes the sacrifice of planning time and overcomes the limit of optimality of sampling-based algorithms such as the rapidly exploring random tree (RRT) algorithm. The proposed “post triangular rewiring” method creates a path closer t...

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Bibliographic Details
Published inINTERNATIONAL JOURNAL of FUZZY LOGIC and INTELLIGENT SYSTEMS Vol. 21; no. 3; pp. 213 - 221
Main Authors Kang, Jin-Gu, Jung, Jin-Woo
Format Journal Article
LanguageEnglish
Published 한국지능시스템학회 2021
Subjects
전기공학
Robot path planning
RRT
Rewiring
Triangular inequality
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Summary:This paper proposed the “post triangular rewiring” method that minimizes the sacrifice of planning time and overcomes the limit of optimality of sampling-based algorithms such as the rapidly exploring random tree (RRT) algorithm. The proposed “post triangular rewiring” method creates a path closer to the optimal path than the RRT algorithm before application, using the triangular inequality principle. Experiments were conducted to verify the performance of the proposed method. When the proposed method is applied to the RRT algorithm, the optimality efficiency increases compared to the planning time. KCI Citation Count: 0
ISSN:1598-2645
2093-744X
DOI:10.5391/IJFIS.2021.21.3.213