2024
DOI: 10.1007/s10846-024-02144-w
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Dynamic Informed Bias RRT*-Connect: Improving Heuristic Guidance by Dynamic Informed Bias Using Hybrid Dual Trees Search

Haotian Li,
Yiting Kang,
Haisong Han

Abstract: The RRT*-Connect algorithm enhances efficiency through dual tree bias growth, yet this bias can be inherently blind, potentially affecting the algorithm’s heuristic performance. In contrast, the Informed RRT* algorithm narrows the planning problem’s scope by leveraging an informed region, thereby improving convergence efficiency towards optimal solutions. However, this approach relies on the prior establishment of feasible paths. Combining these two algorithms can address the challenges posed by Informed RRT w… Show more

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