Efficient-Low Memory Path Planning Algorithm Based on Adaptive Thresholding
Aiming at the problem of low efficiency and large memory consumption in mobile robot path planning, this paper proposes an improved version of the RRT*Fixed Nodes (RRT*FN)algorithm based on the adaptive threshold, named A-RRT*FN. The algorithm constructs a sampling t...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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IEEE
2023-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/10197392/ |
| _version_ | 1797749629172842496 |
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| author | Rongli Gai Xiaohong Wang Kang Wang |
| author_facet | Rongli Gai Xiaohong Wang Kang Wang |
| author_sort | Rongli Gai |
| collection | DOAJ |
| description | Aiming at the problem of low efficiency and large memory consumption in mobile robot path planning, this paper proposes an improved version of the RRT*Fixed Nodes (RRT*FN)algorithm based on the adaptive threshold, named A-RRT*FN. The algorithm constructs a sampling tree in the two directions of the starting point, and the target point and adaptively sets the threshold according to the environment on both sides to improve the environmental adaptability and search speed of the algorithm. Secondly, a node elimination strategy is proposed to quickly locate low-performance nodes and reduce the number of iterations of the algorithm and the memory occupation of low-performance nodes. Finally, the path smoothing strategy is used to smooth the obstacle-free path to obtain a path more suitable for robot tracking control. The proposed algorithm is compared with RRT* FN, Fast-RRT, and Improved Bi-RRT* algorithms under three different maps of simple, narrow, and complex. The results show that the proposed algorithm has better performance in convergence efficiency and memory consumption. |
| first_indexed | 2024-03-12T16:22:34Z |
| format | Article |
| id | doaj.art-832bf7fb891a4c44896c8a525d61dd69 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-03-12T16:22:34Z |
| publishDate | 2023-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-832bf7fb891a4c44896c8a525d61dd692023-08-08T23:00:26ZengIEEEIEEE Access2169-35362023-01-0111813788138810.1109/ACCESS.2023.330024410197392Efficient-Low Memory Path Planning Algorithm Based on Adaptive ThresholdingRongli Gai0https://orcid.org/0000-0001-8826-7479Xiaohong Wang1https://orcid.org/0009-0001-2219-6572Kang Wang2https://orcid.org/0009-0006-8859-5919School of Information Engineering, Dalian University, Dalian, ChinaSchool of Information Engineering, Dalian University, Dalian, ChinaSchool of Information Engineering, Dalian University, Dalian, ChinaAiming at the problem of low efficiency and large memory consumption in mobile robot path planning, this paper proposes an improved version of the RRT*Fixed Nodes (RRT*FN)algorithm based on the adaptive threshold, named A-RRT*FN. The algorithm constructs a sampling tree in the two directions of the starting point, and the target point and adaptively sets the threshold according to the environment on both sides to improve the environmental adaptability and search speed of the algorithm. Secondly, a node elimination strategy is proposed to quickly locate low-performance nodes and reduce the number of iterations of the algorithm and the memory occupation of low-performance nodes. Finally, the path smoothing strategy is used to smooth the obstacle-free path to obtain a path more suitable for robot tracking control. The proposed algorithm is compared with RRT* FN, Fast-RRT, and Improved Bi-RRT* algorithms under three different maps of simple, narrow, and complex. The results show that the proposed algorithm has better performance in convergence efficiency and memory consumption.https://ieeexplore.ieee.org/document/10197392/Adaptive thresholdingpath planningRRT*FN algorithmmemory allocation mechanism |
| spellingShingle | Rongli Gai Xiaohong Wang Kang Wang Efficient-Low Memory Path Planning Algorithm Based on Adaptive Thresholding IEEE Access Adaptive thresholding path planning RRT*FN algorithm memory allocation mechanism |
| title | Efficient-Low Memory Path Planning Algorithm Based on Adaptive Thresholding |
| title_full | Efficient-Low Memory Path Planning Algorithm Based on Adaptive Thresholding |
| title_fullStr | Efficient-Low Memory Path Planning Algorithm Based on Adaptive Thresholding |
| title_full_unstemmed | Efficient-Low Memory Path Planning Algorithm Based on Adaptive Thresholding |
| title_short | Efficient-Low Memory Path Planning Algorithm Based on Adaptive Thresholding |
| title_sort | efficient low memory path planning algorithm based on adaptive thresholding |
| topic | Adaptive thresholding path planning RRT*FN algorithm memory allocation mechanism |
| url | https://ieeexplore.ieee.org/document/10197392/ |
| work_keys_str_mv | AT rongligai efficientlowmemorypathplanningalgorithmbasedonadaptivethresholding AT xiaohongwang efficientlowmemorypathplanningalgorithmbasedonadaptivethresholding AT kangwang efficientlowmemorypathplanningalgorithmbasedonadaptivethresholding |