RRT Path Planning Algorithm Based on Boundary Sub Target Guidance
XIE Cuijuan
LIU Zhicong
Abstract：In order to solve the path planning problem of robot in unknown environment,an improved RRT algorithm is pro-posed.Firstly,combined with the idea of boundary point exploration and based on the rolling planning process,RRT algorithm is applied to exploration path planning.Secondly,aiming at the problems of random search and node redundancy in the traditional RRT algorithm,a heuristic evaluation function is introduced and an adaptive strategy is added to form a boundary sub-objective guided RRT(rapidly exploring random trees)path planning algorithm.Then,in order to make the robot reach the boundary sub tar-get point smoothly,three different exploration strategies are proposed,including barrier free direct access,crossing when the obsta-cle spacing is too large,and bypassing when the obstacle spacing is too small.Simulation experiments show the feasibility of the pro-posed method.
Keywords：RRT algorithmpath planningboundary point explorationunknown environmentexploration strategy
Publication Date：2025-07-20
Online Publishing Date：2025-09-25(First online date of this platform, not the publication date of the document)
Pages：7( 1874-1879,1902 )