Path Planning of Soccer Robot Based on Improved Heuristic RRT* Algorithm

Wang, Xuyang; Liang, Zhiwei; Jiao, Lusheng; Fu, Yujia

doi:10.1109/cac57257.2022.10055702

Cited by 2 publications

(3 citation statements)

References 13 publications

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“…Then pruning and optimizing the redundant nodes of the initial path [10] and smoothing the turning point [11] .…”

Section: Path Optimizationmentioning

confidence: 99%

Research on improved RRT* path planning based on hospital complex environment

LIU,

LIU

2024

Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023)

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A variant of the Rapidly Extended Random Tree (RRT*) algorithm is proposed when studying the global path planning of mobile robots in a hospital with multiple obstacles and disordered environments. In the sampling process, the algorithm adopts the target bias sampling combined with the sampling constraint strategy to guide the sampling points, and then combines the artificial potential field (APF) in the node expansion process to introduce attraction and repulsion to accelerate the growth of the random tree towards the target point. , and finally perform path optimization on the initial planning path, that is, pruning and smoothing, to improve the problem of path redundancy and tortuousness. Experiments show that the algorithm retains the characteristics of RRT random sampling flexibility and is also goal-oriented. Moreover, it reduces the cost of path planning and improves its smoothness, and accelerates the convergence of the algorithm, which makes it have advantages in the complex environment of the hospital.

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“…Then pruning and optimizing the redundant nodes of the initial path [10] and smoothing the turning point [11] .…”

Section: Path Optimizationmentioning

confidence: 99%

Research on improved RRT* path planning based on hospital complex environment

LIU,

LIU

2024

Ninth International Symposium on Sensors, Mechatronics, and Automation System (ISSMAS 2023)

View full text Add to dashboard Cite

show abstract

“…RRT algorithm has complete probability but strong randomness and poor orientation, which is usually far away from the optimal path. Relevant scholars have proposed many improved algorithms [7][8] to solve the path optimization problem. Compared with RRT algorithm, RRT* [8] algorithm has more parent node reselection and rewiring process, which is asymptotically optimal and can approximate the optimal solution theoretically when there are enough sampling points.…”

Section: Introductionmentioning

confidence: 99%

“…Relevant scholars have proposed many improved algorithms [7][8] to solve the path optimization problem. Compared with RRT algorithm, RRT* [8] algorithm has more parent node reselection and rewiring process, which is asymptotically optimal and can approximate the optimal solution theoretically when there are enough sampling points. Although RRT* algorithm can obtain the relatively optimal path, it does not solve the problem that RRT algorithm has low efficiency of random tree expansion due to strong randomness of sampling points and poor directivity.…”

Section: Introductionmentioning

confidence: 99%

Research on path planning of manipulator based on improved RRT* algorithm

Han

Song

2023

Second International Conference on Electronic Information Engineering, Big Data, and Computer Technology (EIBDCT 2023)

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An improved RRT* algorithm based on dynamic bias angle and path simplification is proposed to address the problem that the traditional RRT* algorithm requires a large computational effort to obtain a better path. The algorithm uses a dynamic bias angle expansion strategy to enhance path planning guidance while avoiding local optimality, and then performs path simplification to eliminate redundant points and reduce path length. Finally, the improved RRT* algorithm is used to smooth the processed paths using cubic B-sample interpolation to extend the life of the robot arm. The simulation results demonstrate that the path generated by the improved RRT* algorithm is of higher quality, and the robot arm completes the grasping and placement of the object with a better path around the obstacle after the smoothing process is added.

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Path Planning of Soccer Robot Based on Improved Heuristic RRT* Algorithm

Cited by 2 publications

References 13 publications

Research on improved RRT* path planning based on hospital complex environment

Research on improved RRT* path planning based on hospital complex environment

Research on path planning of manipulator based on improved RRT* algorithm

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