Double-Layer RRT* Objective Bias Anytime Motion Planning Algorithm

Double-Layer RRT* Objective Bias Anytime Motion Planning Algorithm

This paper proposes a double-layer structure RRT* algorithm based on objective bias called DOB-RRT*. The algorithm adopts an initial path with an online optimization structure for motion planning. The first layer of RRT* introduces a feedback-based objective bias strategy with segment forward prunin...

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Bibliographic Details
Main Authors: Hamada Esmaiel, Guolin Zhao, Zeyad A. H. Qasem, Jie Qi, Haixin Sun
Format: Article
Language:English
Published: MDPI AG 2024-03-01
Series:Robotics
Subjects:
motion planning
objective bias
online optimization
rapidly exploring random tree (RRT)
Online Access:https://www.mdpi.com/2218-6581/13/3/41

Internet

https://www.mdpi.com/2218-6581/13/3/41

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