An Improved Path Planning Algorithm Based on RRT

The rapidly-exploring random tree (RRT) algorithm can quickly complete the task of path planning through random sampling. However, only part of the cost is considered in the selection process of RRT nodes, which may cause inefficiency in some environments. In response to this problem, this paper proposes a new hybrid path planning algorithm based on the rapid expansion of random tree algorithm. This algorithm introduces heuristic search ideas on the basis of RRT's random expansion search to ensure the overall efficiency of the search. Experiments show that in some environments, the algorithm can plan a more efficient path in a shorter time.