An Improved Path Planning Algorithm Based on RRT*

Abstract

RRT* algorithm has some shortcomings, such as slow convergence speed and long path length. To solve these problems, an improved algorithm based on RRT* is proposed. By optimizing the sampling part of RRT* algorithm, the algorithm guides the random tree to grow towards the target point, which greatly improves the planning speed. Then, a path optimization strategy is proposed to reduce the redundant inflection points in the path and reduce the cost of the path. Finally, the effectiveness of the algorithm is verified by simulation experiments.