  In this paper, we present a new algorithm that extends RRT* and RT-RRT* for
online path planning in complex, dynamic environments. Sampling-based
approaches often perform poorly in environments with narrow passages, a feature
common to many indoor applications of mobile robots as well as computer games.
Our method extends RRT-based sampling methods to enable the use of an assisting
distance metric to improve performance in environments with obstacles. This
assisting metric, which can be any metric that has better properties than the
Euclidean metric when line of sight is blocked, is used in combination with the
standard Euclidean metric in such a way that the algorithm can reap benefits
from the assisting metric while maintaining the desirable properties of
previous RRT variants - namely probabilistic completeness in tree coverage and
asymptotic optimality in path length. We also introduce a new method of
targeted rewiring, aimed at shortening search times and path lengths in tasks
where the goal shifts repeatedly. We demonstrate that our method offers
considerable improvements over existing multi-query planners such as RT-RRT*
when using diffusion distance as an assisting metric; finding near-optimal
paths with a decrease in search time of several orders of magnitude.
Experimental results show planning times reduced by 99.5% and path lengths by
9.8% over existing real-time RRT planners in a variety of environments.
