1. Quick-RRT*: Triangular inequality-based implementation of RRT* with improved initial solution and convergence rate.
- Author
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Jeong, In-Bae, Lee, Seung-Jae, and Kim, Jong-Hwan
- Subjects
- *
STOCHASTIC convergence , *ROBOTIC path planning , *COMPUTER algorithms , *COMPUTER simulation , *MATHEMATICAL equivalence - Abstract
Highlights • Sampling-based algorithms are commonly used in motion planning problems. • The RRT* algorithm incrementally builds a tree of motion to find a solution. • Taking a shortcut to the ancestry increases the convergence rate to the optimal. • Combination with sampling strategies further improves the performance. Abstract The Rapidly-exploring Random Tree (RRT) algorithm is a popular algorithm in motion planning problems. The optimal RRT (RRT*) is an extended algorithm of RRT, which provides asymptotic optimality. This paper proposes Quick-RRT* (Q-RRT*), a modified RRT* algorithm that generates a better initial solution and converges to the optimal faster than RRT*. Q-RRT* enlarges the set of possible parent vertices by considering not only a set of vertices contained in a hypersphere, as in RRT*, but also their ancestry up to a user-defined parameter, thus, resulting in paths with less cost than those of RRT*. It also applies a similar technique to the rewiring procedure resulting in acceleration of the tendency that near vertices share common parents. Since the algorithm proposed in this paper is a tree extending algorithm, it can be combined with other sampling strategies and graph-pruning algorithms. The effectiveness of Q-RRT* is demonstrated by comparing the algorithm with existing algorithms through numerical simulations. It is also verified that the performance can be further enhanced when combined with other sampling strategies. [ABSTRACT FROM AUTHOR]
- Published
- 2019
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