Improved algorithm of RRT path planning based on comparison optimization
Jia Jinghu · Computer Engineering and Applications Journal · 2011
Because the basic Rapidly-exploring Random Tree(RRT)path planning is unstable and not optimal in dynamic environment,an improved algorithm of robots RRT path planning based on comparison optimization is proposed.In each circle,a stable path can be obtained by trimming and replanning the tree in last circle,and a new path can be planned via the basic RRT method.Comparing these two paths,the optimal one can be found.From the results of simulations and experiments on mobile robots,it concludes that this algorithm can improve the stability of RRT path planning in dynamic environment,and ensures that the path is almost optimal.