{"title":"Light Reflection-Guided RRT$^{*}$: Efficient Path Planning in Narrow Passages","authors":"Xiaotong Xun;Runda Zhang;Senchun Chai;Runqi Chai;Yuanqing Xia","doi":"10.1109/LRA.2025.3606385","DOIUrl":null,"url":null,"abstract":"In complex and constrained environments, robot path planning faces the dual challenges of efficiency and solution quality. This letter presents a Light Reflection Heuristic RRT<inline-formula><tex-math>$^{*}$</tex-math></inline-formula> algorithm (LRH-RRT<inline-formula><tex-math>$^{*}$</tex-math></inline-formula>), which generates the reference path by simulating light reflections along obstacle boundaries and adaptively adjusts the sampling distribution. A dynamic path pruning strategy is introduced to eliminate redundant nodes, and third-order Bézier curve interpolation is applied to smooth the path while satisfying the dynamic constraints of mobile robots. Experimental results demonstrate that LRH-RRT<inline-formula><tex-math>$^{*}$</tex-math></inline-formula> improves planning efficiency and path quality in various narrow passage scenarios.","PeriodicalId":13241,"journal":{"name":"IEEE Robotics and Automation Letters","volume":"10 11","pages":"11474-11481"},"PeriodicalIF":5.3000,"publicationDate":"2025-09-04","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Robotics and Automation Letters","FirstCategoryId":"94","ListUrlMain":"https://ieeexplore.ieee.org/document/11150696/","RegionNum":2,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ROBOTICS","Score":null,"Total":0}
引用次数: 0
Abstract
In complex and constrained environments, robot path planning faces the dual challenges of efficiency and solution quality. This letter presents a Light Reflection Heuristic RRT$^{*}$ algorithm (LRH-RRT$^{*}$), which generates the reference path by simulating light reflections along obstacle boundaries and adaptively adjusts the sampling distribution. A dynamic path pruning strategy is introduced to eliminate redundant nodes, and third-order Bézier curve interpolation is applied to smooth the path while satisfying the dynamic constraints of mobile robots. Experimental results demonstrate that LRH-RRT$^{*}$ improves planning efficiency and path quality in various narrow passage scenarios.
期刊介绍:
The scope of this journal is to publish peer-reviewed articles that provide a timely and concise account of innovative research ideas and application results, reporting significant theoretical findings and application case studies in areas of robotics and automation.