OS3-1 A Novel Path Planning Scheme Based on Improved Bi-RRT* Algorithm

Title:	OS3-1 A Novel Path Planning Scheme Based on Improved Bi-RRT* Algorithm
Publication:	ICAROB2025
Volume:	30
Pages:	79-82
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2025.OS3-1
Author(s):	Shengwei Liu, Miao Zhang
Publication Date:	February 13, 2025
Keywords:	Path planning, RRT, Artificial potential field, The greedy algorithm
Abstract:	The Bi-RRT* algorithm is a path planning algorithm for industrial robots. In this paper, Bi-RRT* algorithm is studied and improved. The improved Bi-RRT* algorithm reduces the iteration time by introducing artificial potential field method. And, the path cost is reduced and the path smoothness is improved by introducing greedy algorithm. Finally, the improved Bi-RRT* algorithm was simulated in three dimensional environment, and the superiority of the improved Bi-RRT* algorithm was demonstrated by comparative experiments.
PDF File:	https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS3/OS3-1.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/