Path reconstruction method for sampling based planners

Abstract

A path reconstruction method for sampling based planners is proposed in this paper. The proposed method improves the quality of the initially planned path. The node update and Dijkstra's graph search algorithm are used in the iterative process of the proposed method. The proposed method improves the safety and efficiency of the initially planned path simultaneously, and can be applied to any kinds of sampling based planners if the planned path represented by a simple path graph. Quantitative analyses of simulation results were done to verify the proposed method.