skip to main content
10.1145/3687488.3687553acmotherconferencesArticle/Chapter ViewAbstractPublication PagesiccirConference Proceedingsconference-collections
research-article

Research on algorithm based on improved bidirectional RRT

Published: 18 November 2024 Publication History

Abstract

In order to solve the problems of Bidirectional RRT algorithm in the path planning of mobile robots, such as path zigzag, path passing through obstacles, and the distance between paths and obstacles is too close, an improved bidirectional RRT algorithm is proposed. The algorithm follows the basic framework of bidirectional RRT algorithm and adds a cubic spline method to smooth the path to solve the problem of zigzag path. Add more waypoints to the original path, and then set the judgment distance between each waypoint and obstacle according to the required distance between the path and obstacle to solve the problem that the path passes the obstacle and the path is too close to the obstacle. The simulation results show that the path generated by the algorithm is smooth, the probability of the path passing the obstacle is very low, and the distance between the path and the obstacle is suitable, which is easy to track and control the mobile robot.

References

[1]
Duan H, Qiao P. Pigeon-inspired optimization: a new swarm intelligence optimizer for air robot path planning[J]. International Journal of Intelligent Computing and Cybernetics, 2008.
[2]
Ulusoy A, Smith S L, Ding X C, et al. Optimal Multi-Robot Path Planning with Temporal Logic Constraints[J].IEEE, 2012.
[3]
Hart P E, Nilsson N J, Raphael B. A Formal Basis for the Heuristic Determination of Minimum Cost Paths[J]. IEEE Transactions on Systems Science & Cybernetics, 1972, 4(2):28-29.
[4]
Shao Qi, Shi Weiguo. Research on Robot Path Planning Based on Improved Ant Colony Algorithm [J]. Modern Manufacturing Engineering, 2023 (06): 46-51.
[5]
He Naifeng, Su Yifan, Liu Zihong, et al. Research on Path Planning Algorithm for Mobile Robots Based on Improved Artificial Potential Field Method [J]. Modern Manufacturing Technology and Equipment, 2020, 56 (12): 1-3.
[6]
Zhao Xiao, Wang Zheng, Huang Chengkan, et al. Path planning for mobile robots based on improved A algorithm [J]. Robotics, 2018 (6): 8. robot. 170591.
[7]
Sun Zhenbo, Wang Mingwei, Li Shu, et al. Path optimization of welding robots based on improved ant colony algorithm [J]. Combination Machine Tool and Automation Processing Technology, 2024 (02): 57-60. mmtamt2024.02.02.012.
[8]
Xu Fei. Research on Robot Obstacle Avoidance and Path Planning Based on Improved Artificial Potential Field Method [J]. Computer Science, 2016, 43 (12): 4. -12-055.
[9]
Yang Daichuan, Wen Chenglin. Multi objective point path planning based on ant colony and improved PRM algorithm [J]. Journal of Hangzhou University of Electronic Science and Technology: Natural Science Edition, 2017, 37 (3): 5. SUN: HXDY.0.2017-03-013.
[10]
Yang Zhenjian, Zhuang Yanan, Chen Yadong. Path planning for construction robots based on BIM and improved RRT algorithm [J]. Experimental Technology and Management, 2024, 41 (02): 31-42. sjg. May 2024.02.005.
[11]
Yin Anlin, Zhang Zhuhong. UAV Path Planning and Improved Artificial Rabbit Optimization in Complex Environments [J/OL]. Journal of System Simulation: 1-16. 2024. 04. 26.
[12]
Duan Yuntao, Mao Pengjun, Lou Xiaoheng, et al.Three dimensional path planning for unmanned aerial vehicles based on improved bidirectional RRT algorithm [J/OL]. Electro Optics and Control: 1-9. 2024. 04. 26. http://kns.cnki.net/kcms/detail/41.1227.TN.20240311.1809.006.html.
[13]
Daily R, Bevly D M. Harmonic potential field path planning for high speed vehicles[C]//American Control Conference.IEEE, 2008.

Index Terms

  1. Research on algorithm based on improved bidirectional RRT

    Recommendations

    Comments

    Information & Contributors

    Information

    Published In

    cover image ACM Other conferences
    ICCIR '24: Proceedings of the 2024 4th International Conference on Control and Intelligent Robotics
    June 2024
    399 pages
    ISBN:9798400709937
    DOI:10.1145/3687488
    Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than the author(s) must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected].

    Publisher

    Association for Computing Machinery

    New York, NY, United States

    Publication History

    Published: 18 November 2024

    Check for updates

    Author Tags

    1. Bidirectional RRT algorithm
    2. Cubic spline method
    3. Path planning

    Qualifiers

    • Research-article

    Conference

    ICCIR 2024

    Acceptance Rates

    Overall Acceptance Rate 131 of 239 submissions, 55%

    Contributors

    Other Metrics

    Bibliometrics & Citations

    Bibliometrics

    Article Metrics

    • 0
      Total Citations
    • 12
      Total Downloads
    • Downloads (Last 12 months)12
    • Downloads (Last 6 weeks)8
    Reflects downloads up to 13 Jan 2025

    Other Metrics

    Citations

    View Options

    Login options

    View options

    PDF

    View or Download as a PDF file.

    PDF

    eReader

    View online with eReader.

    eReader

    Full Text

    View this article in Full Text.

    Full Text

    HTML Format

    View this article in HTML Format.

    HTML Format

    Media

    Figures

    Other

    Tables

    Share

    Share

    Share this Publication link

    Share on social media