Enhanced SIRRT* smooths the skeleton-derived initial path with splines and collision correction, then rewires the tree bidirectionally, outperforming IRRT* and SIRRT* in two 2D experiments.
Improved informed rrt* using gridmap skele- tonization for mobile robot path planning,
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Enhanced SIRRT*: A Structure-Aware RRT* for 2D Path Planning with Hybrid Smoothing and Bidirectional Rewiring
Enhanced SIRRT* smooths the skeleton-derived initial path with splines and collision correction, then rewires the tree bidirectionally, outperforming IRRT* and SIRRT* in two 2D experiments.