OS3-2 Rapidly Exploring Random Tree- back (RRT-Back)

Title:	OS3-2 Rapidly Exploring Random Tree- back (RRT-Back)
Publication:	ICAROB2025
Volume:	30
Pages:	83-86
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2025.OS3-2
Author(s):	Junsheng Gao, Miao Zhang
Publication Date:	February 13, 2025
Keywords:	RRT-Back algorithm, Path optimization, Backtracking mechanism
Abstract:	This paper proposes a backtracking Rapidly Exploring Random Tree (RRT-Back) algorithm to reduce the length of the generated path. The proposed algorithm enhances path optimization by employing path backtracking to eliminate redundant nodes and utilizing direct linear connections between discontinuous nodes to shorten path length. To minimize computational expense, the method incorporates cost-effective connections within the already generated path, following the principles of the RRT algorithm. The experimental results demonstrate that the RRT-Back algorithm significantly enhances the feasibility and efficiency of paths in complex environments.
PDF File:	https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS3/OS3-2.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/