Adaptive Potential guided directional-RRT

The Rapidly Exploring Random Tree Star (RRT*) is an extension of the Rapidly Exploring Random Tree path finding algorithm. RRT* guarantees an optimal, collision free path solution but is limited by slow convergence rates and inefficient memory utilization. This paper presents APGD-RRT*, a variant of RRT* which utilizes Artificial Potential Fields to improve RRT* performance, providing relatively better convergence rates. Simulation results under different environments between the proposed APGD-RRT* and RRT* algorithms demonstrate this marked improvement under various test environments.