{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,13]],"date-time":"2026-08-13T00:45:06Z","timestamp":1786581906279,"version":"build-2736575974"},"reference-count":29,"publisher":"MDPI AG","issue":"2","license":[{"start":{"date-parts":[[2021,1,6]],"date-time":"2021-01-06T00:00:00Z","timestamp":1609891200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003725","name":"National Research Foundation of Korea","doi-asserted-by":"publisher","award":["2020R1F1A1074974"],"award-info":[{"award-number":["2020R1F1A1074974"]}],"id":[{"id":"10.13039\/501100003725","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/501100003661","name":"Korea Institute for Advancement of Technology","doi-asserted-by":"publisher","award":["N0001884"],"award-info":[{"award-number":["N0001884"]}],"id":[{"id":"10.13039\/501100003661","id-type":"DOI","asserted-by":"publisher"}]},{"name":"Korea Association of University, Research institute and Industry","award":["S2938281"],"award-info":[{"award-number":["S2938281"]}]},{"DOI":"10.13039\/501100014188","name":"Ministry of Science and ICT, South Korea","doi-asserted-by":"publisher","award":["IITP-2020-2020-0-01789"],"award-info":[{"award-number":["IITP-2020-2020-0-01789"]}],"id":[{"id":"10.13039\/501100014188","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposed a triangular inequality-based rewiring method for the rapidly exploring random tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To check the proposed algorithm\u2019s performance, this paper compared the RRT and RRT-Connect algorithms in various environments through simulation. From these experimental results, the proposed algorithm shows both quicker planning time and shorter path length than the RRT algorithm and shorter path length than the RRT-Connect algorithm with a similar number of samples and planning time.<\/jats:p>","DOI":"10.3390\/s21020333","type":"journal-article","created":{"date-parts":[[2021,1,6]],"date-time":"2021-01-06T20:45:42Z","timestamp":1609965942000},"page":"333","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":115,"title":["Improved RRT-Connect Algorithm Based on Triangular Inequality for Robot Path Planning"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4262-7840","authenticated-orcid":false,"given":"Jin-Gu","family":"Kang","sequence":"first","affiliation":[{"name":"Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Dong-Woo","family":"Lim","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yong-Sik","family":"Choi","sequence":"additional","affiliation":[{"name":"Department of Artificial Intelligence, Dongguk University, Seoul 04620, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Woo-Jin","family":"Jang","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jin-Woo","family":"Jung","sequence":"additional","affiliation":[{"name":"Department of Computer Science and Engineering, Dongguk University, Seoul 04620, Korea"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2021,1,6]]},"reference":[{"key":"ref_1","unstructured":"Schwab, K. 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