Research on improved RRT path planning algorithm based on multi-strategy fusion.

ABSTRACT: Aiming at the problems of rapid-expanding random trees (RRT) in path planning, such as strong search blindness, high randomness, slow convergence, and non-smooth generated paths, this paper proposes a Multi-Strategy Fusion RRT (MSF-RRT) algorithm to improve RRT. Firstly, a target bias strategy introduces a higher probability that the target region samples points; secondly, a bias expansion strategy expands the sampling points to the target points in an orderly manner; then, an adaptive step size strategy adjusts the expansion step size according to the map complexity. Finally, the preliminary planned path fits and optimises through pruning process and cubic B-spline curve. The simulation results show that in path planning with different map complexity, the simulation results show that the

SUBMITTER: Lei S 

PROVIDER: S-EPMC12006460 | biostudies-literature | 2025 Apr

REPOSITORIES: biostudies-literature