Improving rapidly exploring random trees method using two trees

Abstract eng:
The paper is focused on increasing the speed of rapidly exploring random trees method, used for path planning tasks. Original method uses single tree running from the initial node. Modified version of the method uses two trees, second one running from the goal node and nodes of both trees are occasionally connected to form the obstacle free path from initial to goal node. Description of the modification together with detailed comparison of both original and modified versions is included in the paper. Modified version significantly reduces the search time, however there are certain drawbacks mainly regarding the memory requirements.

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