Improving path planning for mobile robots in complex orchard environments: the continuous bidirectional Quick-RRT* algorithm

Improving path planning for mobile robots in complex orchard environments: the continuous bidirectional Quick-RRT* algorithm

Efficient obstacle-avoidance path planning is critical for orchards with numerous irregular obstacles. This paper presents a continuous bidirectional Quick-RRT* (CBQ-RRT*) algorithm based on the bidirectional RRT (Bi-RRT) and Quick-RRT* algorithms and proposes an expansion cost function that evaluat...

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Bibliographic Details
Main Authors: Lei Ye, Jin Li, Pu Li
Format: Article
Language:English
Published: Frontiers Media S.A. 2024-05-01
Series:Frontiers in Plant Science
Subjects:
path planning
mobile robots
orchard environments
rapidly exploring random tree
bidirectional expansion
Online Access:https://www.frontiersin.org/articles/10.3389/fpls.2024.1337638/full

Internet

https://www.frontiersin.org/articles/10.3389/fpls.2024.1337638/full

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