Mobile Robot Path Planning Algorithm Based on RRT_Connect
Lieping Zhang, Xiaoxu Shi, Yameng Yi, Tang Liu, Jiansheng Peng, Jianchu Zou
Abstract
Targeting some problems of the RRT_Connect path planning algorithm, such as average search and low efficiency, proposes an improved RRT_Connect algorithm that may optimize the searched nodes and parts of planned paths. Firstly, an improved RRT_Connect algorithm based on destination and searched node bias strategy is proposed. Secondly, an improved RRT_Connect algorithm is put forward for the optimization of the searched nodes and some planned paths to deal with the problem of low quality reflected in the improved RRT_Connect path planning algorithm, and the optimization for the cost of path planning by figuring out valid new nodes and parent nodes of adjacent nodes within a certain range. On this basis, the path planning algorithm is verified by simulation and actual experiments. It is shown by the experimental results that the improved RRT_Connect algorithm proposed in this paper can not only shorten the time and length of path planning but also decrease the number of search iterations and nodes.