| Title: | OS3-5 Improved RRT*-Connect Based on MATLAB |
|---|---|
| Publication: | ICAROB2025 |
| Volume: | 30 |
| Pages: | 95-98 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2025.OS3-5 |
| Author(s): | Ruofan Zhang, Miao Zhang |
| Publication Date: | February 13, 2025 |
| Keywords: | RRT*-Connect, Path planning, Greedy Algorithm |
| Abstract: | The article analyzes an improved RRT*-Connect path planning algorithm based on MATLAB software. First, the sampling domain of the algorithm is changed to an elliptical sampling domain. Second, adaptive compensation expansion is introduced to accelerate the search speed of the path planning algorithm. Finally, the algorithm is combined with a greedy algorithm to optimize the path. Simulation results show that this algorithm significantly improves both the path length and planning time compared to the traditional RRT*-connect algorithm. |
| PDF File: | https://alife-robotics.co.jp/members2025/icarob/data/html/data/OS/OS3/OS3-5.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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