Graph Based RRT Optimization for Autonomous Mobile Robots

In this article, we present the application of Graph Theory in the development of an algorithm of path planning for mobile robots. The proposed system evaluates a RRT algorithm based on the individual cost of nodes and the optimized reconnection of the final path based on Dijkstra and Floyd criteria. Our proposal includes the comparisons between different RRT* algorithms and the simulation of the environments in different platforms. The results identify that these criteria must be considered in all the variations of RRT to achieve a definitive algorithm in mobile robotics.

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