Graft-RRT: An efficient method to find and converge global paths through intermediate points

Recent advances in Rapidly-exploring random tree: A review

“…However, this algorithm still suffers from slow convergence, some scholars note that more subtrees may accelerate search efficiency, Chai et al [ 87 ], Tu et al [ 88 ] and Zhang et al [ 89 ] propose generating multiple subtrees within a narrow channel and merging them into a main tree in subsequent sampling. Luo et al [ 90 ] construct a third random tree based on B-RRT, which constructs intermediate points to find and converge global paths in an efficient way. In Ref.…”