Direct-DRRT*: A RRT Improvement Proposal

The present work aims at the development of a new heuristic approach named Direct-DRRT *. This new algorithm is an improvement of the DRRT* method, which is the fusion between RRT * and DRRT. This improvement aims at the mobile robot autonomous planning considering less memory and computational time for a route design. The results show the efficiency of our approach compared to the other methods, presenting less processing time and a signification reduced number of nodes and paths.