Post Triangular Rewiring Method for Shorter RRT Robot Path Planning
Robotics
2021-07-13 v1 Artificial Intelligence
Abstract
This paper proposed the 'Post Triangular Rewiring' method that minimizes the sacrifice of planning time and overcomes the limit of Optimality of sampling-based algorithm such as Rapidly-exploring Random Tree (RRT) algorithm. The proposed 'Post Triangular Rewiring' method creates a closer to the optimal path than RRT algorithm before application through the triangular inequality principle. The experiments were conducted to verify a performance of the proposed method. When the method proposed in this paper are applied to the RRT algorithm, the Optimality efficiency increase compared to the planning time.
Cite
@article{arxiv.2107.05344,
title = {Post Triangular Rewiring Method for Shorter RRT Robot Path Planning},
author = {Jin-Gu Kang and Jin-Woo Jung},
journal= {arXiv preprint arXiv:2107.05344},
year = {2021}
}
Comments
Under review on IJFIS(International Journal of Fuzzy logic and Intelligent Systems; http://www.ijfis.org)