Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints
In this paper, we propose an algorithm based on the Rapidly-exploring Random Trees* (RRT*) algorithm for the path planning of mobile robots under kinematic constraints, aiming to generate efficient and smooth paths quickly. Compared to other algorithms, the main contributions of our proposed algorit...
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MDPI AG
2024-12-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/23/7812 |
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| author | Kemeng Ran Yujun Wang Can Fang Qisen Chai Xingxiang Dong Guohui Liu |
| author_facet | Kemeng Ran Yujun Wang Can Fang Qisen Chai Xingxiang Dong Guohui Liu |
| author_sort | Kemeng Ran |
| collection | DOAJ |
| description | In this paper, we propose an algorithm based on the Rapidly-exploring Random Trees* (RRT*) algorithm for the path planning of mobile robots under kinematic constraints, aiming to generate efficient and smooth paths quickly. Compared to other algorithms, the main contributions of our proposed algorithm are as follows: First, we introduce a bidirectional expansion strategy that quickly identifies a direct path to the goal point in a short time. Second, a node reconnection strategy is used to eliminate unnecessary nodes, thereby reducing the path length and saving memory. Third, a path deformation strategy based on the Clothoid curve is devised to enhance obstacle avoidance and path-planning capability, ensuring collision-free paths that comply with the kinematic constraints of mobile robots. Simulation results demonstrate that our algorithm is simpler, more computationally efficient, expedites pathfinding, achieves higher success rates, and produces smoother paths compared to existing algorithms. |
| format | Article |
| id | doaj-art-fb88bdfadac94a3c809e6d94a6fd8e93 |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2024-12-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-fb88bdfadac94a3c809e6d94a6fd8e932024-12-13T16:32:51ZengMDPI AGSensors1424-82202024-12-012423781210.3390/s24237812Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic ConstraintsKemeng Ran0Yujun Wang1Can Fang2Qisen Chai3Xingxiang Dong4Guohui Liu5College of Computer and Information Science, Southwest University, Chongqing 400715, ChinaCollege of Computer and Information Science, Southwest University, Chongqing 400715, ChinaCollege of Computer and Information Science, Southwest University, Chongqing 400715, ChinaCollege of Computer and Information Science, Southwest University, Chongqing 400715, ChinaCollege of Computer and Information Science, Southwest University, Chongqing 400715, ChinaCollege of Computer and Information Science, Southwest University, Chongqing 400715, ChinaIn this paper, we propose an algorithm based on the Rapidly-exploring Random Trees* (RRT*) algorithm for the path planning of mobile robots under kinematic constraints, aiming to generate efficient and smooth paths quickly. Compared to other algorithms, the main contributions of our proposed algorithm are as follows: First, we introduce a bidirectional expansion strategy that quickly identifies a direct path to the goal point in a short time. Second, a node reconnection strategy is used to eliminate unnecessary nodes, thereby reducing the path length and saving memory. Third, a path deformation strategy based on the Clothoid curve is devised to enhance obstacle avoidance and path-planning capability, ensuring collision-free paths that comply with the kinematic constraints of mobile robots. Simulation results demonstrate that our algorithm is simpler, more computationally efficient, expedites pathfinding, achieves higher success rates, and produces smoother paths compared to existing algorithms.https://www.mdpi.com/1424-8220/24/23/7812path planningRRT*Clothoid curveobstacle avoidance |
| spellingShingle | Kemeng Ran Yujun Wang Can Fang Qisen Chai Xingxiang Dong Guohui Liu Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints Sensors path planning RRT* Clothoid curve obstacle avoidance |
| title | Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints |
| title_full | Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints |
| title_fullStr | Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints |
| title_full_unstemmed | Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints |
| title_short | Improved RRT* Path-Planning Algorithm Based on the Clothoid Curve for a Mobile Robot Under Kinematic Constraints |
| title_sort | improved rrt path planning algorithm based on the clothoid curve for a mobile robot under kinematic constraints |
| topic | path planning RRT* Clothoid curve obstacle avoidance |
| url | https://www.mdpi.com/1424-8220/24/23/7812 |
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