An approach to speed up RRT

We present an improved algorithm to RRT* in this paper. Our algorithm tries to increase the efficiency by replacing the Initialtree() of RRT*with a RRT tree only contains one solution to speed up finding a feasible solution, and then applying a RRT*_S algorithm to optimize the current solution. This RRT*_S is similar with RRT* in principle, but it does not insert extra nodes into the current tree and optimizes just in fixed nodes instead of all the nearby nodes. We demonstrate the performance of this improved algorithm on two benchmark scenarios to show the effectiveness compared with RRT* and RRT.