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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Vydáno v:	Expert systems with applications Ročník 184; s. 115457
Hlavní autoři:	Liao, Bin, Wan, Fangyi, Hua, Yi, Ma, Ruirui, Zhu, Shenrui, Qing, Xinlin
Médium:	Journal Article
Jazyk:	angličtina
Vydáno:	New York Elsevier Ltd 01.12.2021 Elsevier BV
Témata:	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
On-line přístup:	Získat plný text
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