Post Triangular Rewiring Method for Shorter RRT Robot Path Planning

TL;DR

This paper introduces the 'Post Triangular Rewiring' method to enhance RRT path planning by reducing optimality sacrifice and creating more efficient, near-optimal paths through a novel rewiring technique based on the triangular inequality.

Contribution

The paper presents a new rewiring method that improves RRT's path optimality without significantly increasing planning time.

Findings

The method produces paths closer to optimal than standard RRT.

Experimental results show increased optimality efficiency.

The approach effectively balances planning time and path quality.

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.