Memorized Rapidly Exploring Random Tree Optimization (MRRTO): An Enhanced Algorithm for Robot Path Planning
Dena Kadhim Muhsen,
Ahmed T. Sadiq,
Firas Abdulrazzaq Raheem
Abstract:With the advancement of the robotics world, many path-planning algorithms have been proposed. One of the important algorithms is the Rapidly Exploring Random Tree (RRT) but with the drawback of not guaranteeing the optimal path. This paper solves this problem by proposing a Memorized RRT Optimization Algorithm (MRRTO Algorithm) using memory as an optimization step. The algorithm obtains a single path from the start point, and another from the target point to store only the last visited new node. The method for… Show more
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