Description: For basic fast Random Tree (RRT) search algorithm exists too mean, inefficient, long time with defects, we proposed a goal-biased improved RRT algorithm. This algorithm when generating random points with a certain probability of selecting a final destination point as a local target, enabling the expansion of the tree has a tendency to trend the final destination point, thereby speeding up the convergence of the algorithm, optimized route planning
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RRT algorithmtype.doc