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The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Improved RRT-Connect Algorithm Based on Triangular Inequality for Robot Path Planning.

Jin-Gu Kang1, Dong-Woo Lim1, Yong-Sik Choi2

  • 1Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Korea.

Sensors (Basel, Switzerland)
|January 9, 2021
PubMed
Summary

This study introduces a triangular inequality rewiring method for Rapidly-exploring Random Tree-Connect (RRT-Connect) robot path planning, improving efficiency. The enhanced algorithm offers faster planning times and shorter paths compared to traditional RRT and RRT-Connect methods.

Keywords:
RRT-Connectoptimalityrewiringrobot path planningtriangular inequality

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Science

Background:

  • Robot path planning is crucial for autonomous systems.
  • Existing algorithms like Rapidly-exploring Random Tree (RRT) and RRT-Connect have limitations in planning time and path optimality.
  • Optimizing path planning is essential for efficient robot navigation.

Purpose of the Study:

  • To propose a novel triangular inequality-based rewiring method for the RRT-Connect algorithm.
  • To enhance the efficiency and optimality of robot path planning.
  • To guarantee planning time improvements over the standard RRT algorithm.

Main Methods:

  • Implementation of a triangular inequality-based rewiring technique within the RRT-Connect framework.
  • Comparative simulation analysis of the proposed method against RRT and RRT-Connect algorithms.
  • Evaluation across diverse environmental conditions to assess performance.

Main Results:

  • The proposed algorithm demonstrated a significantly quicker planning time compared to the RRT algorithm.
  • Shorter path lengths were achieved by the proposed method relative to both RRT and RRT-Connect algorithms.
  • The enhanced RRT-Connect maintained similar sample counts and planning times while improving path quality.

Conclusions:

  • The triangular inequality-based rewiring method offers a substantial improvement for RRT-Connect path planning.
  • This approach effectively reduces planning time and path length, leading to more optimal robot navigation.
  • The proposed algorithm presents a viable enhancement for real-world robotic applications requiring efficient pathfinding.