Post Triangular Rewiring Method for Shorter RRT Robot Path Planning
This is an incremental improvement for robot path planning, addressing optimality limits in RRT algorithms.
The paper tackles the problem of improving path optimality in sampling-based robot path planning algorithms like RRT by proposing a 'Post Triangular Rewiring' method, which uses the triangular inequality principle to create paths closer to optimal with minimal planning time sacrifice, resulting in increased optimality efficiency compared to planning time.
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.