Abstract
This paper proposes RRT*-Quick as an improved version of Rapidly-exploring Random Tree Star (RRT*). The proposed RRT*-Quick utilizes one of the characteristics of RRT* that nodes in local area tend to share common parents. It uses the ancestor nodes to efficiently enlarge the pool of parent candidates for a faster convergence rate. Branch-and-bound, one of the key extensions of RRT*, prunes the unuseful nodes from the tree to help the search algorithm focus on improving solutions. Since the proposed algorithm generates the initial solution with a lower cost, it can prune unuseful nodes earlier than the conventional RRT*.
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Jeong, IB., Lee, SJ., Kim, JH. (2015). RRT*-Quick: A Motion Planning Algorithm with Faster Convergence Rate. In: Kim, JH., Yang, W., Jo, J., Sincak, P., Myung, H. (eds) Robot Intelligence Technology and Applications 3. Advances in Intelligent Systems and Computing, vol 345. Springer, Cham. https://doi.org/10.1007/978-3-319-16841-8_7
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DOI: https://doi.org/10.1007/978-3-319-16841-8_7
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-16840-1
Online ISBN: 978-3-319-16841-8
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