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Experimental Study of Parameters for Rapidly-exploring Random Tree Algorithm

The Rapidly-exploring Random Tree (RRT) is a useful path planning algorithm and has been extensively researched in recent years. Till now parameters setting of the RRT algorithm have not yet been explored and are usually set based on the expert experience. In this paper, lots of simulation experiments are conducted for different parameter values. The influence of the parameters on the performance of the algorithm is analyzed through the statistical experiments data. At last, the suggestion of parameters setting is given.