Rapidly-exploring Sorted Random Tree: A Self Adaptive Random Motion Planning Algorithm

We present a novel single shot random algorithm, named , for Rapidly-exploring Sorted Random Tree and based on inher- ent relations analysis between RRT omponents. Experimental results are realized with a wide set of path planning problems involving a free ying obje t in a stati environment. The results show that our RSRT algorithm is faster than existing ones. These results an also stand as a starting point of a massive motion planning ben hmark.