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http://dx.doi.org/10.12985/ksaa.2019.27.2.001

Improvement of RRT*-Smart Algorithm for Optimal Path Planning and Application of the Algorithm in 2 & 3-Dimension Environment  

Tak, Hyeong-Tae (한국항공대학교 학부 항공우주 및 기계공학과)
Park, Cheon-Geon (한국항공대학교 대학원 항공우주 및 기계공학과)
Lee, Sang-Chul (한국항공대학교 항공우주 및 기계공학부)
Publication Information
Journal of the Korean Society for Aviation and Aeronautics / v.27, no.2, 2019 , pp. 1-8 More about this Journal
Abstract
Optimal path planning refers to find the safe route to the destination at a low cost, is a major problem with regard to autonomous navigation. Sampling Based Planning(SBP) approaches, such as Rapidly-exploring Random Tree Star($RRT^*$), are the most influential algorithm in path planning due to their relatively small calculations and scalability to high-dimensional problems. $RRT^*$-Smart introduced path optimization and biased sampling techniques into $RRT^*$ to increase convergent rate. This paper presents an improvement plan that has changed the biased sampling method to increase the initial convergent rate of the $RRT^*$-Smart, which is specified as m$RRT^*$-Smart. With comparison among $RRT^*$, $RRT^*$-Smart and m$RRT^*$-Smart in 2 & 3-D environments, m$RRT^*$-Smart showed similar or increased initial convergent rate than $RRT^*$ and $RRT^*$-Smart.
Keywords
Optimal Path Planning; Rapidly-exploring Random Trees star($RRT^*$); $RRT^*$-Smart; Biased sampling; Initial convergent rate;
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  • Reference
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