Electronics Optics & Control, Volume. 32, Issue 1, 48(2025)

An Improved Informed-RRT* Algorithm for Mobile Robot Path Planning

GE Chao1... ZHANG Xinyuan1, WANG Hong1 and LUN Zhixin2 |Show fewer author(s)
Author Affiliations
  • 1School of Electrical Engineering, North China University of Science and Technology, Tangshan 063000, China
  • 2Computer Centre of Tangshan University, Tangshan 063000, China
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    References(11)

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    [2] [2] NAMBA T, YAMADA Y. Risks of deep reinforcement learning applied to fall prevention assist by autonomous mobile robots in the hospital [J]. Big Data and Cognitive Computing, 2018, 2(2):13.

    [4] [4] HONG Z H, SUN P F, TONG X H, et al. Improved A-star algorithm for long-distance off-road path planning using terrain data map [J]. ISPRS International Journal of Geo-Information, 2021, 10(11):785.

    [6] [6] LAVALLE S M, JR KUFFNER J J. Randomized kinodynamic planning [J]. The International Journal of Robotics Research, 2001, 20(5):378-400.

    [7] [7] MASHAYEKHI R, IDRIS M Y I, ANISI M H, et al. Hybrid RRT: a semi-dual-tree RRT-based motion planner [J]. IEEE Access, 2020, 8: 18658-18668.

    [8] [8] ZENG D Q, CHEN H T, YU Y Q, et al. Microrobot path planning based on the multi-module DWA method in crossing dense obstacle scenario [J]. Micromachines, 2023, 14(6):1181.

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    [12] [12] KARAMAN S, FRAZZOLI E. Sampling-based algorithms for optimal motion planning [J]. The International Journal of Robotics Research, 2011, 30(7):846-894.

    [13] [13] GAMMELL J D, SRINIVASA S S, BARFOOT T D. Informed RRT*: optimal sampling-based path planning focused via direct sampling of an admissible ellipsoidal heuristic [C]//2014 IEEE/RSJ International Conference on Intelligent Robots and Systems. Chicago: IEEE, 2014: 2997-3004.

    [14] [14] KUFFNER J J, LAVALLE S M. RRT-Connect: an efficient approach to single-query path planning [C]//Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation. Symposia Proceedings (Cat. No. 00CH37065). San Francisco: IEEE, 2000: 995-1001.

    [15] [15] KLEMM S, OBERLNDER J, HERMANN A, et al. RRT*-Connect: faster, asymptotically optimal motion planning [C]//2015 IEEE International Conference on Robotics and Biomimetics (ROBIO). Zhuhai: IEEE, 2015: 1670-1677.

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    GE Chao, ZHANG Xinyuan, WANG Hong, LUN Zhixin. An Improved Informed-RRT* Algorithm for Mobile Robot Path Planning[J]. Electronics Optics & Control, 2025, 32(1): 48

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    Paper Information

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    Received: Jan. 3, 2024

    Accepted: Jan. 10, 2025

    Published Online: Jan. 10, 2025

    The Author Email:

    DOI:10.3969/j.issn.1671-637x.2025.01.008

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