The Polarized RRT-Edge Approach
Alana Santana, Eduardo Oliveira Freire, Stephanie Kamarry, Elyson Á. N. Carvalho, Lucas Molina · 2018
In this paper, a polarization technique is presented to reduce the amount of iterations and node discard of the RRT-Edge algorithm. The RRT-Edge differs from Classic RRT by the insertion of a new node-tree connection method. The connection rule uses variable edge size and the possibility to connect a new node to an edge of the tree. However, this method generates a great amount of iterations that can be reduced by the use of the proposed polarization technique, which generates improvements on the uniformity of the tree expansion and on the graph exploration speed in the path-planning phase. The results obtained suggest a reduction of up to 80% of the iterations amount considering the same environment occupancy density.