CDRT-RRT: Real-time rapidly exploring Random Tree Star based on convex dissection

This study presents CDRT-RRT*, an algorithm for rapid real-time path planning in N-dimensional Euclidean spaces, based on convex dissection. CDRT-RRT* introduces a convex dissection dynamic neighborhood graph that differs from traditional methods by effectively guiding the sampling and connection pr...

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Vydané v:Expert systems with applications Ročník 268; s. 126291
Hlavní autori: Liu, Jinyuan, Fu, Minglei, Zhang, Wenan, Chen, Bo, Sychou, Uladzislau, Belotserkovsky, Alexei
Médium: Journal Article
Jazyk:English
Vydavateľské údaje: Elsevier Ltd 05.04.2025
Predmet:
Navigation
Optimal distance
Real-time path planning
Sampling-based algorithms
Real-time path planning
Navigation
Sampling-based algorithms
Optimal distance
ISSN:0957-4174
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Shrnutí:This study presents CDRT-RRT*, an algorithm for rapid real-time path planning in N-dimensional Euclidean spaces, based on convex dissection. CDRT-RRT* introduces a convex dissection dynamic neighborhood graph that differs from traditional methods by effectively guiding the sampling and connection processes. This approach significantly reduces the computational cost of collision detection, making it more efficient in dynamic environments. A delayed rewiring strategy, underpinned by a heuristic cost-based priority queue, enhances computational efficiency by minimizing redundant rewiring operations. Furthermore, a dual-key cost representation enables CDRT-RRT* to provide feasible temporary paths even when the goal is unreachable due to dynamic obstacles. At the theoretical level, the analysis substantiates the completeness of the path space corresponding to the proposed dynamic neighborhood graph for distance-optimal path planning problems. Extensive simulations and physical experiments demonstrate CDRT-RRT*’s superior performance and efficiency in real-time path planning tasks across various complex and dynamic environments. •Novel convex dissection dynamic neighborhood graph reduces collision detection.•Delayed rewiring strategy minimizes redundant operations, enhancing efficiency.•Dual-key cost representation ensures feasible paths in dynamic environments.•CDRT-RRT* demonstrates superior performance in complex real-time planning tasks.•Open-source implementation facilitates further research and application.
ISSN:0957-4174
DOI:10.1016/j.eswa.2024.126291