FF-RRT: a sampling-improved path planning algorithm for mobile robots against concave cavity obstacle

The slow convergence rate and large cost of the initial solution limit the performance of rapidly exploring random tree star (RRT*). To address this issue, this paper proposes a modified RRT* algorithm (defined as FF-RRT*) that creates an optimal initial solution with a fast convergence rate. An imp...

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Bibliographic Details

Published in:	Complex & intelligent systems Vol. 9; no. 6; pp. 7249 - 7267
Main Authors:	Cong, Jiping, Hu, Jianbo, Wang, Yingyang, He, Zihou, Han, Linxiao, Su, Maoyu
Format:	Journal Article
Language:	English
Published:	Cham Springer International Publishing 01.12.2023 Springer
Subjects:	Complexity Computational Intelligence Data Structures and Information Theory Engineering Optimal path planning Original Article Path planning Rapidly exploring random tree star (RRT) Sampling-based algorithm Path planning Optimal path planning Rapidly exploring random tree star (RRT) Sampling-based algorithm
ISSN:	2199-4536, 2198-6053
Online Access:	Get full text
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