Improved RRT-Connect Algorithm Based on Triangular Inequality for Robot Path Planning

This paper proposed a triangular inequality-based rewiring method for the rapidly exploring random tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm's performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.

Automated summary

The paper introduces a rewiring method based on triangular inequality for the RRT-Connect robot path-planning algorithm to improve planning time, showing better performance in terms of both planning time and path length compared to the RRT algorithm and even the RRT-Connect algorithm in various environments through simulation experiments.