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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Autors principals:	Honghui Fan, Jiahe Huang, Xianzhen Huang, Hongjin Zhu, Huachang Su
Format:	Artigo
Idioma:	Inglês
Publicat:	Elsevier 2024-03-01
Col·lecció:	Heliyon
Matèries:	Initial solution Bidirectional search Obstacle expansion Informed sampling Smooth path
Accés en línia:	http://www.sciencedirect.com/science/article/pii/S2405844024024344
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