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- Title
A Method of Enhancing Rapidly-Exploring Random Tree Robot Path Planning Using Midpoint Interpolation.
- Authors
Kang, Jin-Gu; Choi, Yong-Sik; Jung, Jin-Woo
- Abstract
It is difficult to guarantee optimality using the sampling-based rapidly-exploring random tree (RRT) method. To solve the problem, this paper proposes the post triangular processing of the midpoint interpolation method to minimize the planning time and shorten the path length of the sampling-based algorithm. The proposed method makes a path that is closer to the optimal path and somewhat solves the sharp path problem through the interpolation process. Experiments were conducted to verify the performance of the proposed method. Applying the method proposed in this paper to the RRT algorithm increases the efficiency of optimization by minimizing the planning time.
- Subjects
ROBOTIC path planning; INTERPOLATION; PROBLEM solving; SCHEDULING
- Publication
Applied Sciences (2076-3417), 2021, Vol 11, Issue 18, p8483
- ISSN
2076-3417
- Publication type
Article
- DOI
10.3390/app11188483