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

作者：

Highlights：

• 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 reach.

摘要

•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 reach.

论文关键词：Path planning,Sampling-based algorithms,Rapidly-exploring random tree (RRT),Optimal path planning

论文评审过程：Received 9 September 2020, Revised 15 June 2021, Accepted 19 June 2021, Available online 30 June 2021, Version of Record 10 July 2021.

论文官网地址：https://doi.org/10.1016/j.eswa.2021.115457