An Improved Anytime RRTs Algorithm

Mobile robots often need to find a trajectory to another position in their environment, subject to constraints posed by obstacles and the robot's capabilities. Several approaches have been used to address this problem each with some limitations, including state discretizations, planning efficiency, and lack of interleaved execution. Anytime RRTs algorithm is a recently developed algorithm on which fast continuous domain path planners can be based. This paper presents a modification to the anytime RRTs algorithm. Optimization include a more general biased distribution, which was explored in this work in the form of a waypoint cache. Which improve replanning efficiency and the quality of generated paths. We demonstrate the effectiveness of the algorithm on single robot planning domains.