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Improved Bidirectional RRT* Algorithm for Robot Path Planning.

Peng Xin1, Xiaomin Wang1, Xiaoli Liu1

  • 1Key Laboratory of Intelligent Industrial Equipment Technology of Hebei Province, School of Mechanical and Equipment Engineering, Hebei University of Engineering, Handan 056038, China.

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Summary
This summary is machine-generated.

This study enhances the bidirectional Rapidly-exploring Random Tree star (RRT*) algorithm for more efficient and smoother path planning. The improved algorithm significantly reduces path length and inflection points, excelling in complex environments.

Keywords:
artificial potential field methoddynamic window methodfusion algorithmimproved bidirectional RRT* algorithmtemporary obstacles avoidance

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Computer Science

Background:

  • Traditional bidirectional RRT* algorithms suffer from high randomness, low search efficiency, and numerous path inflection points.
  • These limitations hinder optimal path planning in dynamic and complex environments.

Purpose of the Study:

  • To improve the traditional bidirectional RRT* algorithm by addressing its shortcomings.
  • To enhance path planning efficiency, reduce randomness, and minimize inflection points in planned paths.

Main Methods:

  • Constraining random tree expansion using an improved artificial potential field method to guide growth towards the target.
  • Biasing sampling points in the target-biased tree towards those in the start-biased tree.
  • Optimizing the planned path by extracting key points and segmenting using the dynamic window method.

Main Results:

  • The improved bidirectional RRT* algorithm demonstrated shorter path lengths compared to traditional A*, RRT, and bidirectional RRT*.
  • Achieved higher path-planning efficiency and significantly fewer inflection points.
  • The fused algorithm produced smoother paths with excellent avoidance of temporary obstacles in complex environments.

Conclusions:

  • The proposed enhancements effectively overcome the limitations of the traditional bidirectional RRT* algorithm.
  • The improved algorithm offers superior performance in terms of path length, efficiency, and smoothness.
  • This approach provides a more robust and reliable path-planning solution for robotic applications.