Intelligent Optimization Algorithm-Based Path Planning for a Mobile Robot

Figure 5

Robot path trajectory for RRT/S-RRT. (a) Initial path generated by the RRT in scenario 1; (b) smooth path generated by the S-RRT in scenario 1; (c) initial path generated by the RRT in scenario 2; (d) smooth path generated by the S-RRT in scenario 2; (e) initial path generated by the RRT in scenario 3; (f) smooth path generated by the S-RRT in scenario 3.

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