APF-IRRT*: An Improved Informed Rapidly-Exploring Random Trees-Star Algorithm by Introducing Artificial Potential Field Method for Mobile Robot Path Planning

APF-IRRT*: An Improved Informed Rapidly-Exploring Random Trees-Star Algorithm by Introducing Artificial Potential Field Method for Mobile Robot Path Planning

An Informed RRT* (IRRT*) algorithm is one of the optimized versions of a Rapidly-exploring Random Trees (RRT) algorithm which finds near-optimal solutions faster than RRT and RRT* algorithms by restricting the search area to an ellipsoidal subset of the state space. However, IRRT* algorithm has the...

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Bibliographic Details
Main Authors: Daohua Wu, Lisheng Wei, Guanling Wang, Li Tian, Guangzhen Dai
Format: Article
Language:English
Published: MDPI AG 2022-10-01
Series:Applied Sciences
Subjects:
path planning
hybrid algorithm
APF-IRRT* algorithm
mobile robots
Online Access:https://www.mdpi.com/2076-3417/12/21/10905

Internet

https://www.mdpi.com/2076-3417/12/21/10905

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