Rapidly Exploring Random Tree- back (RRT-Back)

This paper proposes a backtracking Rapidly Exploring Random Tree (RRT-Back) algorithm to reduce the length of the generated path.The proposed algorithm enhances path optimization by employing path backtracking to eliminate redundant nodes and utilizing direct linear connections between discontinuous nodes to shorten path length.To minimize computational expense, the method incorporates cost-effective connections within the already generated path, following the principles of the RRT algorithm.The experimental results demonstrate that the RRT-Back algorithm significantly enhances the feasibility and efficiency of paths in complex environments.