Double-Layer RRT* Objective Bias Anytime Motion Planning Algorithm-Reference-Cited by-同舟云学术

Double-Layer RRT* Objective Bias Anytime Motion Planning Algorithm

Published:2024-03-01 Issue:3 Volume:13 Page:41
ISSN:2218-6581
Container-title:Robotics
language:en
Short-container-title:Robotics

Author:

Esmaiel Hamada¹²^ORCID,Zhao Guolin³^ORCID,Qasem Zeyad A. H.⁴,Qi Jie³,Sun Haixin⁵^ORCID

Affiliation:

1. Department of Electronics and Communication Engineering, College of Engineering, A’Sharqiyah University, Ibra 400, Oman

2. Department of Electrical Engineering, Faculty of Engineering, Aswan University, Aswan 81542, Egypt

3. College of Electronic Science and Technology, Xiamen University, Xiamen 361005, China

4. School of Electronic and Computer Engineering, Peking University, Shenzhen 518005, China

5. Department of Information and Communication, School of Informatics, Xiamen University, Xiamen 316005, China

Abstract

This paper proposes a double-layer structure RRT* algorithm based on objective bias called DOB-RRT*. The algorithm adopts an initial path with an online optimization structure for motion planning. The first layer of RRT* introduces a feedback-based objective bias strategy with segment forward pruning processing to quickly obtain a smooth initial path. The second layer of RRT* uses the heuristics of the initial tree structure to optimize the path by using reverse maintenance strategies. Compared with conventional RRT and RRT* algorithms, the proposed algorithm can obtain the initial path with high quality, and it can quickly converge to the progressive optimal path during the optimization process. The performance of the proposed algorithm is effectively evaluated and tested in real experiments on an actual wheeled robotic vehicle running ROS Kinetic in a real environment.

Publisher

MDPI AG

Link

https://www.mdpi.com/2218-6581/13/3/41/pdf

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