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

Author:

Kang Jin-GuORCID,Choi Yong-SikORCID,Jung Jin-Woo

Abstract

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.

Funder

National Research Foundation of Korea

The Ministry of Trade, Industry and Energy of Korea

Ministry of SMEs and Startups

Ministry of Science and ICT, South Korea

Publisher

MDPI AG

Subject

Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science

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