A new path planning method based On RRT
Weng Song-feng · Ha'erbin gongye daxue xuebao · 2004
This paper presents a new heuristic path planning approach based on Rapidly-exploring Random Tree. Starting with an initial point as the root, the tree is expanded until the nodes include the goal point or a point within the goal area. In order to enhance the efficiency of the planning, KD structure is used and the path of the next frame of picture is calculated on the basis of former data. With this method an optimal or second-optimal path can be found.