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
Subject
Fluid Flow and Transfer Processes,Computer Science Applications,Process Chemistry and Technology,General Engineering,Instrumentation,General Materials Science
Cited by
9 articles.
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