Research on informed-RRT* algorithm for multi-strategy optimization in mobile robot path planning

Xiaoli Feng; Kewen Xia; Shurui Fan; Li Wang; Xin Zhao

doi:10.1117/12.3029208

6 May 2024 Research on informed-RRT* algorithm for multi-strategy optimization in mobile robot path planning

Xiaoli Feng, Kewen Xia, Shurui Fan, Li Wang, Xin Zhao

Proceedings Volume 13107, Fourth International Conference on Sensors and Information Technology (ICSI 2024); 131073Z (2024) https://doi.org/10.1117/12.3029208
Event: Fourth International Conference on Sensors and Information Technology (ICSI 2024), 2024, Xiamen, China

Abstract

Path planning is a key technology to realize the autonomous navigation of mobile robots. The Informed-RRT* algorithm is the current path planning algorithm that solves the high sampling efficiency in complex environments, but it also suffers from long planning times and redundant turns in complex environments. For this reason, a multi-strategy optimization Informed-RRT* algorithm is proposed, the first is to introduce the WOA algorithm during the operation of re-selecting the parent node so that the new node can find the selection of the optimal parent node in the search radius, to improve the efficiency of the search, and the second is to select a suitable Bessel curve to interpolate and optimize the generated paths, to make the generated feasible paths smoother and with fewer redundant turns. In the algorithm validation, the McNamee wheeled robot is modeled using the joint simulation platform of ROS and GAZEBO, and the improved Informed RRT* algorithm is encapsulated into the ROS-based path planning algorithm, and the experimental results show that the proposed algorithm outperforms the existing algorithms in terms of the average planning time, the planning length, and the success rate of the planning, and it provides a new feasible solution for the path planning in the complex environment.

(2024) Published by SPIE. Downloading of the abstract is permitted for personal use only.

Citation Download Citation

Xiaoli Feng, Kewen Xia, Shurui Fan, Li Wang, and Xin Zhao "Research on informed-RRT* algorithm for multi-strategy optimization in mobile robot path planning", Proc. SPIE 13107, Fourth International Conference on Sensors and Information Technology (ICSI 2024), 131073Z (6 May 2024); https://doi.org/10.1117/12.3029208

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available