Adaptive Potential guided directional-RRT

Abstract

The Rapidly Exploring Random Tree Star (RRT) is an extension of the Rapidly Exploring Random Tree path finding algorithm. RRT guarantees an optimal, collision free path solution but is limited by slow convergence rates and inefficient memory utilization. This paper presents APGD-RRT, a variant of RRT which utilizes Artificial Potential Fields to improve RRT performance, providing relatively better convergence rates. Simulation results under different environments between the proposed APGD-RRT and RRT algorithms demonstrate this marked improvement under various test environments.