Journal
NEURAL PROCESSING LETTERS
Volume 53, Issue 4, Pages 3011-3029Publisher
SPRINGER
DOI: 10.1007/s11063-021-10536-4
Keywords
Rapidly-exploring random tree; Path planning; Nonholonomic constraint; Goal bias; Robot motion
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Funding
- National Natural Science Foundation of China [51375314]
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The newly proposed 1-0 Bg-RRT algorithm can solve path planning problems in complex environments more quickly and effectively, with better performance compared to traditional RRT and Bg-RRT algorithms.
A 1-0 Bg-RRT algorithm is proposed to reduce computational time and complexity, even in complex environments. Different from Rapidly-exploring Random Tree (RRT) and Bias-goal Rapidly-exploring Random Tree (Bg-RRT), using 1-0 Bg-RRT with 1 and 0 change probability biased to the target to construct the tree is faster and can jump out of the local minimum in time. Although unknown space path planning problem based on RRT is difficult to obtain satisfactory performance, but the improved algorithm provides a more superior compared with the basic RRT algorithm and Bg-RRT algorithm. The simulation results show that the 1-0 Bg-RRT algorithm has shorter computational time and shorter path than the traditional RRT algorithm.
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