Electronics Optics & Control, Volume. 32, Issue 1, 21(2025)

Path Planning of Mobile Robot Based on Improved APF-QRRT* Strategy

LIU Wenhao1...2, YU Shengdong1,2,3, WU Hongyuan1,2, HU Wenke1,2, LI Xiaopeng1,2, CAI Bofan1,2 and MA Jinyu3 |Show fewer author(s)
Author Affiliations
  • 1College of Mechanical and Electrical Engineering, Wenzhou University, Wenzhou 325000, China
  • 2Wenzhou Institute, University of Chinese Academy of Sciences, Wenzhou 325000, China
  • 3School of Aeronautics, Nanjing University of Aeronautics and Astronautics, Nanjing 210000, China
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    This paper presents an enhanced path planning strategy, namely Improved Artificial Potential Field-QRRT* (IAPF-QRRT*), to address the problem of the existing Q-RRT* algorithm in meeting both reachability and safety requirements during the path planning process.The IAPF-QRRT* strategy utilizes the Q-RRT* algorithm to obtain a set of critical discrete path points that connect the starting and ending points, which offers improved initial solutions and faster convergence speed compared with the traditional RRT* algorithm. Additionally, a novel non-potential orthogonal vector field is derived by enhancing the conventional Artificial Potential Field (APF) method.Under specific conditions, the repulsive vector field is orthogonal to the attractive vector field, thereby enhancing safety along the critical path points.Comparative analysis with other algorithms validates the effectiveness of the proposed IAPF-QRRT* strategy through numerical simulation experiments.

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    LIU Wenhao, YU Shengdong, WU Hongyuan, HU Wenke, LI Xiaopeng, CAI Bofan, MA Jinyu. Path Planning of Mobile Robot Based on Improved APF-QRRT* Strategy[J]. Electronics Optics & Control, 2025, 32(1): 21

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    Paper Information

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    Received: Dec. 18, 2023

    Accepted: Jan. 10, 2025

    Published Online: Jan. 10, 2025

    The Author Email:

    DOI:10.3969/j.issn.1671-637x.2025.01.004

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