Agile-RRT*: A Faster and More Robust Path Planner With Enhanced Initial Solution and Convergence Rate in Complex Environments Article Swipe
Chenjia Huang
,
Bingjie Tang
,
Zhiyang Guo
,
Qi Su
,
Jingyao Gai
·
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.1109/access.2024.3392926
YOU?
·
· 2024
· Open Access
·
· DOI: https://doi.org/10.1109/access.2024.3392926
Path planning is a critical process in mobile robot navigation. Sampling-based path planning algorithms represented by Rapidly Exploring Random Tree star (RRT*) have gained widespread adoption due to their asymptotic optimality and proven efficiency. However, when applied to intricate environments, characterized by narrow passages and cluttered obstacles, these algorithms encounter challenges in both the initial solution generation and the convergence towards the optimal path, mainly caused by the inefficient sampling strategy, thereby impeding its overall effectiveness. To address these limitations, we introduced Agile-RRT* (A-RRT*), an advancement of RRT* algorithm. Our contributions are twofold: firstly, we introduce an adaptive goal-biased sampling strategy, which employs an adaptive principle for determining the step size on the basis of the goal-biased strategy. This avoids getting trapped in local minima and enhances the efficiency of the initial solution generation. Secondly, we introduce a path optimization approach using a secondary tree and subset-informed sampling, to accelerate the convergence toward the optimal path. It optimizes the path by gradually shrinking the designed elliptical planning space around local states, which effectively narrows down the search space. The experimental results demonstrated that the proposed A-RRT* diminishes the initial solution search time by 71.00% and the sub-optimal solution search time by 82.86% in comparison to RRT*. The A-RRT* exhibits superior performance over RRT*, Informed-RRT*, P-RRT* and Quick-RRT* in terms of soundness and efficiency in narrow and intricate environments. This method could expedite efficient motion planning for drones and mobile robots in complex environments.
Related Topics
Concepts
Agile software development
Planner
Convergence (economics)
Computer science
Path (computing)
Rate of convergence
Robustness (evolution)
Mathematical optimization
Distributed computing
Artificial intelligence
Mathematics
Key (lock)
Software engineering
Computer network
Operating system
Economics
Economic growth
Chemistry
Gene
Biochemistry
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.1109/access.2024.3392926
- https://ieeexplore.ieee.org/ielx7/6287639/6514899/10507793.pdf
- OA Status
- gold
- Cited By
- 9
- References
- 23
- Related Works
- 10
- OpenAlex ID
- https://openalex.org/W4395096748
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
-
https://openalex.org/W4395096748Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.1109/access.2024.3392926Digital Object Identifier
- Title
-
Agile-RRT*: A Faster and More Robust Path Planner With Enhanced Initial Solution and Convergence Rate in Complex EnvironmentsWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2024Year of publication
- Publication date
-
2024-01-01Full publication date if available
- Authors
-
Chenjia Huang, Bingjie Tang, Zhiyang Guo, Qi Su, Jingyao GaiList of authors in order
- Landing page
-
https://doi.org/10.1109/access.2024.3392926Publisher landing page
- PDF URL
-
https://ieeexplore.ieee.org/ielx7/6287639/6514899/10507793.pdfDirect link to full text PDF
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
-
https://ieeexplore.ieee.org/ielx7/6287639/6514899/10507793.pdfDirect OA link when available
- Concepts
-
Agile software development, Planner, Convergence (economics), Computer science, Path (computing), Rate of convergence, Robustness (evolution), Mathematical optimization, Distributed computing, Artificial intelligence, Mathematics, Key (lock), Software engineering, Computer network, Operating system, Economics, Economic growth, Chemistry, Gene, BiochemistryTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
9Total citation count in OpenAlex
- Citations by year (recent)
-
2025: 5, 2024: 4Per-year citation counts (last 5 years)
- References (count)
-
23Number of works referenced by this work
- Related works (count)
-
10Other works algorithmically related by OpenAlex
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