APF-IBRRT*: A Global Path Planning Algorithm for Obstacle Avoidance Robots With Improved Iterative Search Efficiency

APF-IBRRT*: A Global Path Planning Algorithm for Obstacle Avoidance Robots With Improved Iterative Search Efficiency

The Rapidly-exploring Random Tree (RRT) algorithm based on random sampling has been widely applied in global path planning for robots due to its collision-free and asymptotically optimal solution capabilities. However, in narrow and dynamic indoor environments, RRT and its optimized algorithms suffe...

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Bibliographic Details
Main Authors: Jiuyang Gao, Xiang Zheng, Pan Liu, Peiyan Yang, Jiuyang Yu, Yaonan Dai
Format: Article
Language:English
Published: IEEE 2024-01-01
Series:IEEE Access
Subjects:
Path planning
B-RRT*
VPF-RRT*
APF-IBRRT*
planning time
Online Access:https://ieeexplore.ieee.org/document/10658969/

Internet

https://ieeexplore.ieee.org/document/10658969/

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