Improved Path Planning Algorithm Based on RRT
Qiang Jiang, Ye Man, Xudong Pu · 2024
Rapidly expanding random tree is a path planning algorithm based on tree structure. It constructs a tree structure of exploration space through random sampling and node expansion, so as to find a feasible path connecting the starting point and the end point. In practical application, RRT algorithm often has the problem of large time overhead. When performing operations such as random sampling, neighbor search, and tree growth, the RRT algorithm requires a lot of calculation and search. Based on the traditional RRT algorithm, an improved algorithm is proposed. Heuristic sampling is introduced to replace the original random sampling strategy. Compared with the traditional RRT algorithm sampling times and calculation time are reduced, and the efficiency and performance of the algorithm are improved.