Path Planning of a Mobile Robot Based on the Improved RRT Algorithm
RRT (rapidly exploring random tree) is a sampling-based planning algorithm that has been widely used due to its simple structure and fast speed. However, the RRT algorithm has several issues such as low planning efficiency, high randomness, and poor path quality. To address these issues, this paper...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-12-01
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| Series: | Applied Sciences |
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| Online Access: | https://www.mdpi.com/2076-3417/14/1/25 |
| _version_ | 1827385025559003136 |
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| author | Xiangjie Li Yala Tong |
| author_facet | Xiangjie Li Yala Tong |
| author_sort | Xiangjie Li |
| collection | DOAJ |
| description | RRT (rapidly exploring random tree) is a sampling-based planning algorithm that has been widely used due to its simple structure and fast speed. However, the RRT algorithm has several issues such as low planning efficiency, high randomness, and poor path quality. To address these issues, this paper proposes a novel method, the adjustable probability and sampling area and the Dijkstra optimization-based RRT algorithm (APSD-RRT), which consists of the following two modules: an APS-RRT planner and an optimizer. The APS-RRT planner can reach a feasible path quickly using the proposed adjustable probability and sampling area strategies, while the optimizer applies the Dijkstra algorithm to prune and improve the initial path generated by the APS-RRT planner and smooths-out sharp nodes based on the interpolation method. A series of experiments are conducted to demonstrate that our method can perform much better in terms of the balance between the computing cost and performance. |
| first_indexed | 2024-03-08T15:12:45Z |
| format | Article |
| id | doaj.art-ccd4c4ee574c40309772931e473e5f2e |
| institution | Directory Open Access Journal |
| issn | 2076-3417 |
| language | English |
| last_indexed | 2024-03-08T15:12:45Z |
| publishDate | 2023-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Applied Sciences |
| spelling | doaj.art-ccd4c4ee574c40309772931e473e5f2e2024-01-10T14:50:40ZengMDPI AGApplied Sciences2076-34172023-12-011412510.3390/app14010025Path Planning of a Mobile Robot Based on the Improved RRT AlgorithmXiangjie Li0Yala Tong1School of Science, Hubei University of Technology, Wuhan 430068, ChinaSchool of Science, Hubei University of Technology, Wuhan 430068, ChinaRRT (rapidly exploring random tree) is a sampling-based planning algorithm that has been widely used due to its simple structure and fast speed. However, the RRT algorithm has several issues such as low planning efficiency, high randomness, and poor path quality. To address these issues, this paper proposes a novel method, the adjustable probability and sampling area and the Dijkstra optimization-based RRT algorithm (APSD-RRT), which consists of the following two modules: an APS-RRT planner and an optimizer. The APS-RRT planner can reach a feasible path quickly using the proposed adjustable probability and sampling area strategies, while the optimizer applies the Dijkstra algorithm to prune and improve the initial path generated by the APS-RRT planner and smooths-out sharp nodes based on the interpolation method. A series of experiments are conducted to demonstrate that our method can perform much better in terms of the balance between the computing cost and performance.https://www.mdpi.com/2076-3417/14/1/25RRTpath planningpath optimizationmobile robotsampling-based algorithm |
| spellingShingle | Xiangjie Li Yala Tong Path Planning of a Mobile Robot Based on the Improved RRT Algorithm Applied Sciences RRT path planning path optimization mobile robot sampling-based algorithm |
| title | Path Planning of a Mobile Robot Based on the Improved RRT Algorithm |
| title_full | Path Planning of a Mobile Robot Based on the Improved RRT Algorithm |
| title_fullStr | Path Planning of a Mobile Robot Based on the Improved RRT Algorithm |
| title_full_unstemmed | Path Planning of a Mobile Robot Based on the Improved RRT Algorithm |
| title_short | Path Planning of a Mobile Robot Based on the Improved RRT Algorithm |
| title_sort | path planning of a mobile robot based on the improved rrt algorithm |
| topic | RRT path planning path optimization mobile robot sampling-based algorithm |
| url | https://www.mdpi.com/2076-3417/14/1/25 |
| work_keys_str_mv | AT xiangjieli pathplanningofamobilerobotbasedontheimprovedrrtalgorithm AT yalatong pathplanningofamobilerobotbasedontheimprovedrrtalgorithm |