OS3-4 Improvement of the APF-RRT*-Connect Algorithm for Efficient Path Planning in 3D Environments

Title:	OS3-4 Improvement of the APF-RRT*-Connect Algorithm for Efficient Path Planning in 3D Environments
Publication:	ICAROB2025
Volume:	30
Pages:	91-94
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2025.OS3-4
Author(s):	Yiming Wang, Miao Zhang
Publication Date:	February 13, 2025
Keywords:	Artificial potential field, Rapidly-exploring random tree, Three-dimensional environments, Real-time
Abstract:	This paper presents an improved Artificial Potential Field - Rapidly-exploring Random Tree Star-Connect algorithm for three-dimensional environments. The improved method integrates the Artificial Potential Field during path generation to optimize each newly generated node in real-time. This approach reduces the number of node optimization processes, collision detections and optimizes the target nodes in the attractive potential field. Through Matlab simulation, the paper compares the path length and planning time of the traditional Artificial Potential Field Rapidly-exploring Random Tree Star-Connect algorithm and the improved algorithm. The results indicate that the improved algorithm can find shorter paths in less time and enhances the smoothness of the path.
PDF File:	https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS3/OS3-4.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/

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