In order to address the shortcomings of the traditional bidirectional RRT* algorithm, such as its high degree of randomness, low search efficiency, and the many inflection points in the planned path, we institute improvements in the following directi...
This paper investigates an FPGA architecture whose primary function is to accelerate parallel computations involved in the rapid-exploring random tree (RRT) algorithm. The RRT algorithm is inherently serial, while in each computing step there are man...
Path planning is a pivotal technology for autonomous vehicles, directly influencing driving safety and comfort. Developing algorithms adaptable to diverse scenarios is critical for ensuring the safe operation of autonomous driving systems and advanci...
RRT (rapidly exploring random tree) is a sampling-based planning algorithm that has been widely used due to its simple structure and fast speed. However, the RRT algorithm has several issues such as low planning efficiency, high randomness, and poor...
As urban power grids grow increasingly complex and underground space resources become increasingly scarce, traditional two-dimensional cable design methods face significant challenges in spatial representation accuracy and design efficiency. This stu...
Planning algorithms are essential for reducing computational complexity in robotics and autonomous driving. While the Rapidly exploring Random Tree Star (RRT*) algorithm offers probabilistic completeness and asymptotic optimality, its practical effic...
To address the shortcomings of the original rapidly-exploring random tree (RRT) algorithm, such as long and non-smooth paths, slow convergence to the goal region, and limited adaptability in dynamic environments, this paper proposes a hybrid path pla...
A suitable trajectory in a port inspection mission is important for unmanned aerial vehicles (UAVs). Motion planning can help UAVs quickly generate an optimal trajectory that meets the constraints. The motion planning of UAVs is achieved in this pape...
For the RRT* algorithm, there are problems such as greater randomness, longer time consumption, more redundant nodes, and inability to perform local obstacle avoidance when encountering unknown obstacles in the path planning process of autonomous veh...
In order to solve the problem of obstacle avoidance for unmanned surface vehicles (USV), based on the classic RRT algorithm and Velocity Obstacle principle, an improved RRT algorithm is proposed. For the situation of the extension direction of the pa...
Unordered parcel sorting corresponds to collision-free motion planning for manipulators within 3D unstructured obstacle-laden environments. Random poses of sorted objects impose stringent requirements on planning real-time performance and trajectory...
Aiming at the path planning problem of an unmanned aerial vehicle (UAV) in a complex unknown environment, this paper proposes a cooperative path planning algorithm for multiple UAVs. Using the local environment information, several rolling path plann...
In complex environments, path planning is the key for unmanned aerial vehicles (UAVs) to perform military missions autonomously. This paper proposes a novel algorithm called flight cost-based Rapidly-exploring Random Tree star (FC-RRT*) extending the...
This paper proposes an enhanced RRT* algorithm (XN-RRT*) to address the challenges of low path planning efficiency and suboptimal picking success rates in complex pitaya harvesting environments. The algorithm generates sampling points based on normal...
This paper investigates the path-planning problem of unmanned aerial vehicles (UAVs) for logistics delivery in urban environments. The impact of real-time obstacle avoidance and path smoothness on the flyability of UAVs remains a challenge in existin...
It is well known that path planning has always been an important study area for intelligent ships, especially for unmanned surface vehicles (USVs). Therefore, it is necessary to study the path-planning algorithm for USVs. As one of the basic algorith...
In order to solve the problems of traditional RRT algorithms that are too random in planning, have low planning efficiency, and have insufficient security, this paper proposes an algorithm that fuses APF and the improved bidirectional RRT* algorithm...
In response to issues such as insufficient bias in random sampling, low convergence efficiency, inadequate path search efficiency, and lack of path smoothness encountered by the traditional RRT* algorithm during path planning, an improved algorithm i...
Path planning is one of the key technologies for unmanned driving of underground intelligent vehicles. Due to the complexity of the drift environment and the vehicle structure, some improvements should be made to adapt to underground mining condition...
This paper proposes a solution for the cooperative obstacle avoidance path planning problem in dual manipulator arms using an improved Rapidly Exploring Random Tree (RRT) algorithm. The dual manipulator arms are categorized into a main arm and a seco...
The application of robots to replace manual work in live-line working scenes can effectively guarantee the safety of personnel. To improve the operation efficiency and reduce the difficulties in operating a live-line working robot, this paper propose...
An automotive welding unit is a modular production cell within a welding workshop that integrates industrial manipulators, welding equipment, fixtures, and control systems to perform specific welding and assembly tasks. A large number of industrial m...
To address the limitations of low node utilization and inadequate adaptability in complex environments encountered by Rapidly-exploring Random Tree (RRT) algorithms during the expansion phase, this study presents an enhanced path planning algorithm&m...
In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human–Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the proc...
In the future of automated production processes, the manipulator must be more efficient to complete certain tasks. Compared to single-arm robots, dual-arm robots have a larger workspace and stronger load capacity. Coordinated motion planning of multi...
For the path planning of quad-rotor UAVs, the traditional RRT* algorithm has weak exploration ability, low planning efficiency, and a poor planning effect. A TD-RRT* algorithm based on target bias expansion and dynamic step size is proposed herein. F...
Aiming at the problems of low efficiency, high energy consumption, and poor path quality during the multi-mechanism operation of bridge cranes in spatial tasks, an improved Rapidly exploring Random Tree (RRT) algorithm based on multi-strategy fusion...
Targeting some problems of the RRT_Connect path planning algorithm, such as average search and low efficiency, proposes an improved RRT_Connect algorithm that may optimize the searched nodes and parts of planned paths. Firstly, an improved RRT_Connec...
In this paper, an improved APF-GFARRT* (artificial potential field-guided fuzzy adaptive rapidly exploring random trees) algorithm based on APF (artificial potential field) guided sampling and fuzzy adaptive expansion is proposed to solve the problem...
Compared to terrestrial transportation systems, the expansion of urban traffic into airspace can not only mitigate traffic congestion, but also foster establish eco-friendly transportation networks. Additionally, unmanned aerial vehicle (UAV) task al...
Percutaneous puncture has become one of the most widely used minimally invasive techniques in clinical practice due to its advantages of low trauma, quick recovery and easy operation. However, incomplete needle tip movement, tissue barriers and compl...
This paper proposes a double-layer structure RRT* algorithm based on objective bias called DOB-RRT*. The algorithm adopts an initial path with an online optimization structure for motion planning. The first layer of RRT* introduces a feedback-based o...
This paper proposed a triangular inequality-based rewiring method for the rapidly exploring random tree (RRT)-Connect robot path-planning algorithm that guarantees the planning time compared to the RRT algorithm, to bring it closer to the optimum. To...
In view of the large randomness, redundant path nodes, and low search efficiency of RRT-connect in a complex obstacle environment, this study intends to develop a path-planning method combining RRT-connect and Informed RRT*. First, to solve the probl...
To address the limitations of the traditional rapidly exploring random tree (RRT) algorithm, including redundant exploration, limited adaptability in dense environments, insufficient obstacle clearance, and poor path smoothness, this paper proposes a...
Due to the complexity of the marine environment, underwater target search and interception is one of the biggest problems faced by an autonomous underwater vehicle (AUV). At present, there is quite a lot of research in terms of the two-dimensional en...
Aiming at the problems of traditional Rapidly exploring Random Tree Star (RRT*), its modified algorithms in the three-dimensional complex underwater path planning of autonomous underwater vehicles (AUVs), including sampling redundancy, simplistic exp...
The Rapidly Exploring Random Tree (RRT) is widely employed in the field of intelligent vehicles, but traditional RRT has issues like inefficient blind expansion, tortuous/discontinuous paths, and slow convergence. Thus, a multi-dimensional optimized...
In recent years, the RRT* algorithm has been widely applied in industrial fields because of its asymptotic optimality. However, the traditional RRT* algorithm exhibits limitations in terms of convergence speed and quality of generated paths, and its...
Aiming at the problems of a six-degree-of-freedom robotic arm in a three-dimensional multi-obstacle space, such as low sampling efficiency and path search failure, an improved fast extended random tree (RRT*) algorithm for robotic arm path planning m...
Pruning branches of apple trees is a labor-intensive task. Pruning robots can save manpower and reduce costs. A full map of the apple orchard with collision-free paths, which is navigation planning, is essential. To improve the navigation efficiency...
The Rapidly Exploring Random Tree algorithm, renowned for its randomness, asymptotic properties, and local planning capabilities, is extensively employed in autonomous driving for path planning. Addressing issues such as pronounced randomness, low se...
Autonomous valet parking technology refers to a vehicle’s use of onboard sensors and line-controlled chassis to carry out a fully automatic valet parking function, which can greatly improve the driver’s experience. This study focuses on a...
The working environment of a picking robot is complex, and the motion-planning algorithm of the picking manipulator will directly affect the obstacle avoidance effect and picking efficiency of the manipulator. In this study, a time-optimal rapidly-ex...
In complex environments, path planning for mobile robots faces challenges such as insensitivity to the environment, low efficiency, and poor path quality with the rapidly-exploring random tree (RRT) algorithm. We propose a novel algorithm, the comple...
Manipulator motion planning for real-time obstacle avoidance in a dynamic environment is explored in this article. To address obstacle avoidance problems, a multiple-query and sampling-based motion replanning algorithm with the dynamic bias-goal fact...
Efficient and effective path planning can significantly enhance the task execution capabilities of UAVs in complex environments. This paper proposes an improved sampling-based path planning algorithm, Bi-APF-RRT*, which integrates an Artificial Poten...
In order to improve the safety and efficiency of inspection robots for solar power plants, the Rapidly Exploring Random Tree Star (RRT*) algorithm is studied and an improved method based on an adaptive target bias and heuristic circular sampling is p...
The Rapidly-exploring Random Tree (RRT) algorithm faces issues in path planning, including low search efficiency, high randomness, and suboptimal path quality. To overcome these issues, this paper proposes an improved RRT planning algorithm based on...
The Rapidly-exploring Random Tree Star (RRT*) algorithm, widely utilized for path planning, faces challenges, such as slow acquisition of feasible paths and high path costs. To address this issue, this paper presents an improved algorithm based on RR...
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