# Post Triangular Rewiring Method for Shorter RRT Robot Path Planning

arXiv: https://arxiv.org/abs/2107.05344 · HTML: https://mlsanity.com/paper/2107.05344/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
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- First posted on arXiv 12 Jul 2021.

## Abstract (arXiv)

This paper proposed the 'Post Triangular Rewiring' method that minimizes the sacrifice of planning time and overcomes the limit of Optimality of sampling-based algorithm such as Rapidly-exploring Random Tree (RRT) algorithm. The proposed 'Post Triangular Rewiring' method creates a closer to the optimal path than RRT algorithm before application through the triangular inequality principle. The experiments were conducted to verify a performance of the proposed method. When the method proposed in this paper are applied to the RRT algorithm, the Optimality efficiency increase compared to the planning time.