Abstract
A novel route planning method based on the RRT algorithm is proposed in this study. To enhance the structure of the state tree, a general-purpose pseudorandom number generator is inserted into RRT. In addition, the proposed method includes a distance restriction that helps reduce the number of possible candidate nodes. MATLAB has been utilized to examine the efficacy of the proposed technique using three different types of maps. The simulation results demonstrate that the revised method is advantageous for route planning due to its superior convergence and efficacy over the original.
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