An improved RRT algorithm for robot path planning based on path expansion heuristic sampling

• Published in: Journal of computational science Vol. 67; p. 101937
• Main Authors: Ding, Jun, Zhou, Yinxuan, Huang, Xia, Song, Kun, Lu, Shiqing, Wang, Lusheng
• Format: Journal Article
• Language: English
• Published: Elsevier B.V 01.03.2023
• Subjects: Heuristic sampling; Narrow corridor; Path planning; RRT; Path planning; Narrow corridor; Heuristic sampling; RRT

Rapidly-exploring Random Tree Star (RRT*) algorithm and its variants based on random sampling can provide a collision-free and asymptotic optimal solution for many path planning problems. However, many RRT* based variants have low sampling efficiency and slow convergence rate in the environment whic...