F-RRT: An improved path planning algorithm with improved initial solution and convergence rate

•A tree-extending algorithm for reducing the solution cost is presented.•Generating nodes essential to the optimal path with smaller samples.•Searching for ancestors of the nearest vertex instead of nodes around the random point.•Connecting the random point to the furthest vertex of the tree it can...

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Veröffentlicht in:	Expert systems with applications Jg. 184; S. 115457
Hauptverfasser:	Liao, Bin, Wan, Fangyi, Hua, Yi, Ma, Ruirui, Zhu, Shenrui, Qing, Xinlin
Format:	Journal Article
Sprache:	Englisch
Veröffentlicht:	New York Elsevier Ltd 01.12.2021 Elsevier BV
Schlagworte:	Algorithms Apexes Convergence Motion planning Optimal path planning Optimization Path planning Rapidly-exploring random tree (RRT) Sampling Sampling-based algorithms Path planning Rapidly-exploring random tree (RRT) Optimal path planning Sampling-based algorithms
ISSN:	0957-4174, 1873-6793
Online-Zugang:	Volltext
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