Mobile Robot Path Planning Algorithm Based on RRT_Connect
Targeting some problems of the RRT_Connect path planning algorithm, such as average search and low efficiency, proposes an improved RRT_Connect algorithm that may optimize the searched nodes and parts of planned paths. Firstly, an improved RRT_Connect algorithm based on destination and searched node...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-05-01
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| Series: | Electronics |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2079-9292/12/11/2456 |
| _version_ | 1797597631131680768 |
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| author | Lieping Zhang Xiaoxu Shi Yameng Yi Liu Tang Jiansheng Peng Jianchu Zou |
| author_facet | Lieping Zhang Xiaoxu Shi Yameng Yi Liu Tang Jiansheng Peng Jianchu Zou |
| author_sort | Lieping Zhang |
| collection | DOAJ |
| description | Targeting some problems of the RRT_Connect path planning algorithm, such as average search and low efficiency, proposes an improved RRT_Connect algorithm that may optimize the searched nodes and parts of planned paths. Firstly, an improved RRT_Connect algorithm based on destination and searched node bias strategy is proposed. Secondly, an improved RRT_Connect algorithm is put forward for the optimization of the searched nodes and some planned paths to deal with the problem of low quality reflected in the improved RRT_Connect path planning algorithm, and the optimization for the cost of path planning by figuring out valid new nodes and parent nodes of adjacent nodes within a certain range. On this basis, the path planning algorithm is verified by simulation and actual experiments. It is shown by the experimental results that the improved RRT_Connect algorithm proposed in this paper can not only shorten the time and length of path planning but also decrease the number of search iterations and nodes. |
| first_indexed | 2024-03-11T03:08:19Z |
| format | Article |
| id | doaj.art-21ad8a064e7c4b9a8afd65cdcdccf5f9 |
| institution | Directory Open Access Journal |
| issn | 2079-9292 |
| language | English |
| last_indexed | 2024-03-11T03:08:19Z |
| publishDate | 2023-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Electronics |
| spelling | doaj.art-21ad8a064e7c4b9a8afd65cdcdccf5f92023-11-18T07:45:11ZengMDPI AGElectronics2079-92922023-05-011211245610.3390/electronics12112456Mobile Robot Path Planning Algorithm Based on RRT_ConnectLieping Zhang0Xiaoxu Shi1Yameng Yi2Liu Tang3Jiansheng Peng4Jianchu Zou5College of Mechanical and Control Engineering, Guilin University of Technology, Guilin 541006, ChinaCollege of Mechanical and Control Engineering, Guilin University of Technology, Guilin 541006, ChinaCollege of Mechanical and Control Engineering, Guilin University of Technology, Guilin 541006, ChinaSchool of Artificial Intelligence, Hezhou University, Hezhou 542899, ChinaSchool of Artificial Intelligence and Manufacturing, Hechi University, Yizhou 546300, ChinaKey Laboratory of AI and Information Processing, Education Department of Guangxi Zhuang Autonomous Region, Hechi University, Yizhou 546300, ChinaTargeting some problems of the RRT_Connect path planning algorithm, such as average search and low efficiency, proposes an improved RRT_Connect algorithm that may optimize the searched nodes and parts of planned paths. Firstly, an improved RRT_Connect algorithm based on destination and searched node bias strategy is proposed. Secondly, an improved RRT_Connect algorithm is put forward for the optimization of the searched nodes and some planned paths to deal with the problem of low quality reflected in the improved RRT_Connect path planning algorithm, and the optimization for the cost of path planning by figuring out valid new nodes and parent nodes of adjacent nodes within a certain range. On this basis, the path planning algorithm is verified by simulation and actual experiments. It is shown by the experimental results that the improved RRT_Connect algorithm proposed in this paper can not only shorten the time and length of path planning but also decrease the number of search iterations and nodes.https://www.mdpi.com/2079-9292/12/11/2456RRT_Connect algorithmmobile robotpath planninggoal biased strategyoptimization |
| spellingShingle | Lieping Zhang Xiaoxu Shi Yameng Yi Liu Tang Jiansheng Peng Jianchu Zou Mobile Robot Path Planning Algorithm Based on RRT_Connect Electronics RRT_Connect algorithm mobile robot path planning goal biased strategy optimization |
| title | Mobile Robot Path Planning Algorithm Based on RRT_Connect |
| title_full | Mobile Robot Path Planning Algorithm Based on RRT_Connect |
| title_fullStr | Mobile Robot Path Planning Algorithm Based on RRT_Connect |
| title_full_unstemmed | Mobile Robot Path Planning Algorithm Based on RRT_Connect |
| title_short | Mobile Robot Path Planning Algorithm Based on RRT_Connect |
| title_sort | mobile robot path planning algorithm based on rrt connect |
| topic | RRT_Connect algorithm mobile robot path planning goal biased strategy optimization |
| url | https://www.mdpi.com/2079-9292/12/11/2456 |
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