WCSE

Improved RRT Algorithm Path Planning Combined with Artificial Potential Field Algorithm

Abstract— In order to solve the problem of low path planning efficiency in complex obstacle environment, an improved Rapidly-exploring Random Trees (RRT) algorithm is proposed. It utilizes artificial potential field to guide the fast expanding random tree to growing towards the target and away from obstacles. Considering the gravitational field of the target node and the repulsion field of the obstacle in the artificial potential field, a certain number of random nodes generated in one iteration are evaluated and selected. The simulation results show that the improved RRT algorithm has strong advantages over the basic RRT algorithm in search ability and computation time.

Index Terms— RRT, path planning, artificial potential field, randomness

Xiufen Wang
School of Mechanical Electronic Engineering, Guizhou Minzu University, CHINA
Shengyi Yang
Key Laboratory of Pattern Recognition and Intelligent Systems of Guizhou Province, Guizhou Minzu University,CHINA

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Cite: Xiufen Wang, Shengyi Yang, "Improved RRT Algorithm Path Planning Combined with Artificial Potential Field Algorithm ," 2021 The 11th International Workshop on Computer Science and Engineering (WCSE 2021), pp. 133-137, Shanghai, China, June 19-21, 2021.