Improved RRT* path planning algorithm based on artificial potential field method

Aiming at the problem of water environmental garbage cleaning, this paper based on RRT* planning algorithm, combined with artificial potential field method to improve the path planning algorithm, to achieve the obstacle avoidance path planning of cleaning equipment. In the process of water area garbage cleaning, the cleaning equipment not only needs to avoid obstacles, but also is affected by current resistance in the process of moving. Therefore, the resistance during the moving process of the cleaning device is denoted as the potential field partial repulsion force, and the potential field function is introduced into the algorithm sampling process, so as to solve the problems of blind node expansion and slow convergence rate of RRT* algorithm itself. In addition, the fixed step size in the sampling process is changed to the dynamic step size, which makes the path obtained by RRT* algorithm smoother. Finally, the simulation based on MA TLAB verifies the feasibility and effectiveness of the improved algorithm.