Dubins-RRT Path Planning and Heading-Vector Control Guidance for a Uuv Recovery

Yan, Zheping; Hao, Bing; Zhang, Wei; Yang, Simon X.

doi:10.2316/journal.206.2016.3.206-4770

Cited by 3 publications

(1 citation statement)

References 16 publications

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“…The RRT algorithm is a classical path-planning algorithm [ 7 ]. The main idea of the algorithm is to find an effective path by growing a random tree continuously until the target point is also on the random tree.…”

Section: Introductionmentioning

confidence: 99%

Improved Bidirectional RRT* Algorithm for Robot Path Planning

Peng

Wang

Liu

et al. 2023

Sensors

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In order to address the shortcomings of the traditional bidirectional RRT* algorithm, such as its high degree of randomness, low search efficiency, and the many inflection points in the planned path, we institute improvements in the following directions. Firstly, to address the problem of the high degree of randomness in the process of random tree expansion, the expansion direction of the random tree growing at the starting point is constrained by the improved artificial potential field method; thus, the random tree grows towards the target point. Secondly, the random tree sampling point grown at the target point is biased to the random number sampling point grown at the starting point. Finally, the path planned by the improved bidirectional RRT* algorithm is optimized by extracting key points. Simulation experiments show that compared with the traditional A*, the traditional RRT, and the traditional bidirectional RRT*, the improved bidirectional RRT* algorithm has a shorter path length, higher path-planning efficiency, and fewer inflection points. The optimized path is segmented using the dynamic window method according to the key points. The path planned by the fusion algorithm in a complex environment is smoother and allows for excellent avoidance of temporary obstacles.

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Section: Introductionmentioning

confidence: 99%