Improved rapidly exploring random tree using salp swarm algorithm

Abstract

Due to the limitations of the initial rapidly exploring random tree (RRT) algorithm, robotics faces challenges in path planning. This study proposes the integration of the metaheuristic salp swarm algorithm (SSA) to enhance the RRT algorithm, resulting in a new algorithm termed IRRT-SSA. The IRRT-SSA addresses issues inherent in the original RRT, enhancing efficiency and path-finding capabilities. A detailed explanation of IRRT-SSA is provided, emphasizing its distinctions from the core RRT. Comprehensive insights into parameterization and algorithmic processes contribute to a thorough understanding of its implementation. Comparative analysis demonstrates the superior performance of IRRT-SSA over the basic RRT, showing improvements of approximately 49, 54, and 54% in average path length, number of nodes, and number of iterations, respectively. This signifies the enhanced effectiveness of the proposed method. Theoretical and practical implications of IRRT-SSA are highlighted, particularly its influence on practical robotic applications, serving as an exemplar of tangible benefits.

Keywords

• path planning
• rapidly exploring random tree
• salp swarm algorithm
• improved rrt-ssa