Smooth Path Planning for Robot Docking in Unknown Environment with Obstacles

Algorithm 2

The RRT path planning approach.

Input: Root , Goal , , Iterations ,

output:

(1) for to do

(2) Generate random sample nodes within to

(3) Determine the nearest existent to within

(4) if the branch is collision-free then

(5) Determine with lowest cost from to

(6) Set as the parent node of

(7) end if

(8) end for

(9) the shortest path