A Method of Enhancing Rapidly-Exploring Random Tree Robot Path Planning Using Midpoint Interpolation

It is difficult to guarantee optimality using the sampling-based rapidly-exploring random tree (RRT) method. To solve the problem, this paper proposes the post triangular processing of the midpoint interpolation method to minimize the planning time and shorten the path length of the sampling-based a...

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Bibliographic Details
Published in:	Applied sciences Vol. 11; no. 18; p. 8483
Main Authors:	Kang, Jin-Gu, Choi, Yong-Sik, Jung, Jin-Woo
Format:	Journal Article
Language:	English
Published:	Basel MDPI AG 01-09-2021
Subjects:	Algorithms Euclidean space Interpolation midpoint interpolation Optimization Path planning path smoothness robot path planning Robots RRT Sampling triangular rewiring
Online Access:	Get full text
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Summary:	It is difficult to guarantee optimality using the sampling-based rapidly-exploring random tree (RRT) method. To solve the problem, this paper proposes the post triangular processing of the midpoint interpolation method to minimize the planning time and shorten the path length of the sampling-based algorithm. The proposed method makes a path that is closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. 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 by minimizing the planning time.
ISSN:	2076-3417 2076-3417
DOI:	10.3390/app11188483