RRT*N: An improved rapidly-exploring random tree approach for reduced processing times
H Mohammed, Mohammad A. Jaradat, Lotfi Romdhane · 2018
In this paper, we aim to improve on the processing time taken to run the Rapidly-Exploring Random Tree Star (RRT∗) algorithm with no regard for the path length. By restricting the area or volume in which the algorithm's nodes can be generated, a net improvement of the speed is observer. A further step is taken where the restriction is controller to either be in the form of a normal probability distribution or a uniform probability distribution. Both modifications are presented with the normal distribution resulting in significant improvements in the processing times.