ABF-RRT*: Bidirectional fast optimal rapidly-exploring random tree via adaptive sampling of a permissible hyper-ellipsoid

Abstract This paper proposes a global path planning algorithm based on adaptive sampling and bidirectional fast exploration, ABF-RRT*. ABF-RRT* introduces an adaptive sampler that dynamically constructs a hyper-ellipsoid according to the progress of dual-tree exploration and adaptively weighs the sa...

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Bibliografische Detailangaben

Hauptverfasser:	Zhaoyang Zeng, Yufang Chang
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	Springer 2025-08-01
Schriftenreihe:	Journal of King Saud University: Computer and Information Sciences
Schlagworte:	Motion planning Sampling-based algorithms Rapidly-exploring random tree (RRT) Optimal path planning
Online-Zugang:	https://doi.org/10.1007/s44443-025-00186-0
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