FRRT*-Connect: A Bidirectional Sampling-Based Path Planner with Potential Field Guidance for Complex Obstacle Environments

FRRT*-Connect: A Bidirectional Sampling-Based Path Planner with Potential Field Guidance for Complex Obstacle Environments

This paper addresses the path planning problem in high-dimensional complex environments and proposes an improved FRRT*-Connect algorithm to enhance the efficiency, precision, and robustness of path generation. The algorithm first introduces a goal-directed attractive force control mechanism, integra...

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Bibliographic Details
Main Authors: Wenshan Yan, Xiangrong Xu, Aleksandar Rodić, Petar B. Petrovich
Format: Article
Language:English
Published: MDPI AG 2025-04-01
Series:Sensors
Subjects:
robot path planning
rapid exploration of random trees
RRT*-Connect
artificial potential fields
path optimization
Online Access:https://www.mdpi.com/1424-8220/25/9/2761
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