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Survival Tree01:19

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BI-RRT*: An improved path planning algorithm for secure and trustworthy mobile robots systems.

Honghui Fan1, Jiahe Huang2, Xianzhen Huang2

  • 1School of Computer Engineering, Jiangsu University of Technology, ChangZhou, JiangSu, China.

Heliyon
|March 8, 2024
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Summary

A new path planning algorithm, guided bidirectional Informed-RRT* (BI-RRT*), enhances robot safety and efficiency. It ensures paths avoid obstacles, improving reliability in AI systems.

Keywords:
Bidirectional searchInformed samplingInitial solutionObstacle expansionSmooth path

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Path Planning Algorithms

Background:

  • Informed-RRT* offers asymptotic optimality but suffers from slow progress and proximity to obstacles.
  • Existing path planning methods require improvements in efficiency and safety for real-world AI applications.

Purpose of the Study:

  • To introduce a novel path planning algorithm, guided bidirectional Informed-RRT* (BI-RRT*), designed for enhanced safety, efficiency, and reliability.
  • To address the limitations of gradual progress and obstacle proximity in Informed-RRT*.

Main Methods:

  • The BI-RRT* algorithm incorporates an extension range for obstacle avoidance, dual-direction exploration from start and target points, and cubic spline smoothing for trajectory refinement.
  • Algorithm validation was performed using simulations within a robot operating system (ROS).

Main Results:

  • Simulation and experimental tests confirmed that BI-RRT* significantly improves path planning capabilities compared to existing methods.
  • The algorithm successfully generated paths maintaining a safe distance from obstacles, reducing collision risks.

Conclusions:

  • BI-RRT* offers a robust and reliable path planning solution for AI systems, prioritizing safety and efficiency.
  • The algorithm's design enhances dependability through features like obstacle-free path generation and rigorous validation.