  This paper proposed the 'Post Triangular Rewiring' method that minimizes the
sacrifice of planning time and overcomes the limit of Optimality of
sampling-based algorithm such as Rapidly-exploring Random Tree (RRT) algorithm.
The proposed 'Post Triangular Rewiring' method creates a closer to the optimal
path than RRT algorithm before application through the triangular inequality
principle. The experiments were conducted to verify a performance of the
proposed method. When the method proposed in this paper are applied to the RRT
algorithm, the Optimality efficiency increase compared to the planning time.
