CSM-RRT*: an improved RRT* algorithm based on constrained sampling mechanism

DOI

説明

The Rapidly Exploring Random Tree Star (RRT∗) is recognized as a better path planning algorithm, but its path quality and path planning speed still have room for improvement. In this paper, an improved RRT* algorithm(CSMRRT*) based on constrained sampling mechanism is proposed .The entire planning process is divided into two steps: fast exploration and optimization of the initial path. Subsequently, a dynamic sampling region consists of removed redundant nodes and collision nodes is formed around initial path By prioritizing exploration within this dynamic region, computational resources can be saved and the asymptotic optimal path can be quickly converged from the initial path. Eventually, simulation results presented in various obstacle environments confirm the efficiency of CSMRRT*.

収録刊行物

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詳細情報 詳細情報について

  • CRID
    1390299981561907328
  • DOI
    10.5954/icarob.2024.os24-2
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
  • 抄録ライセンスフラグ
    使用不可

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