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

The optimal RRT in elliptic space sampling (Informed-RRT*) is an extension of RRT that provides asymptotic optimality, however, it experiences gradual progress and close to obstacles. In the paper, we propose a novel path planning algorithm guided bidirectional Informed-RRT* (BI-RRT*), that introduc...

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Main Authors: Honghui Fan, Jiahe Huang, Xianzhen Huang, Hongjin Zhu, Huachang Su
Format: Artigo
Language:Inglês
Published: Elsevier 2024-03-01
Series:Heliyon
Subjects:
Initial solution
Bidirectional search
Obstacle expansion
Informed sampling
Smooth path
Online Access:http://www.sciencedirect.com/science/article/pii/S2405844024024344
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