Optimal Path Planning using RRT* based Approaches: A Survey and Future Directions

Abstract

Optimal path planning refers to find the collision free, shortest, and smooth route between start and goal positions. This task is essential in many robotic applications such as autonomous car, surveillance operations, agricultural robots, planetary and space exploration missions. Rapidly-exploring Random Tree Star (RRT*) is a renowned sampling based planning approach. It has gained immense popularity due to its support for high dimensional complex problems. A significant body of research has addressed the problem of optimal path planning for mobile robots using RRT* based approaches. However, no updated survey on RRT* based approaches is available. Considering the rapid pace of development in this field, this paper presents a comprehensive review of RRT* based path planning approaches. Current issues relevant to noticeable advancements in the field are investigated and whole discussion is concluded with challenges and future research directions.