Efficient Path Planning Based on Dynamic Bridging Rapidly Exploring Random Tree

Autor: Shulei Qiu, Baoquan Li, Ruiyang Tong, Xiaojing He, Chuanjing Tang
Jazyk: angličtina
Rok vydání: 2024
Předmět:
Zdroj: Applied Sciences, Vol 14, Iss 5, p 2032 (2024)
Druh dokumentu: article
ISSN: 14052032
2076-3417
DOI: 10.3390/app14052032
Popis: In the domain of mobile robotic navigation, the real-time generation of low-cost, executable reference trajectories is crucial. This paper propounds an innovative path planning strategy, termed Dynamic Bridging Rapidly Exploring Random Tree (DBR-RRT), which endeavors to enable safe and expedited path navigation. Initially, a heuristic discrimination method is engaged in the path search phase, whereby the issue of sluggish search velocity is tackled by evaluating whether sampled points reside at “bridging locations” within a free space, and by assessing the spatial–geometric relationships between proximate obstacles and auxiliary points. Subsequently, by leveraging extended speed, additional sampling points are generated in the vicinity of existing points to augment the search’s efficacy. Ultimately, the path is optimized and pruned by synthesizing the local curvature of the sampling points and the proximity to obstacles, assigning varied priorities to nodes, thus ensuring that the path’s quality and smoothness is upheld.
Databáze: Directory of Open Access Journals