Post Triangular Rewiring Method for Shorter RRT Robot Path Planning

• Published in: INTERNATIONAL 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
• Language: English
• Published: 한국지능시스템학회 2021
• Subjects: 전기공학; Robot path planning; RRT; Rewiring; Triangular inequality

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...