AIRRT*: An improved fast path planning algorithm for manipulators

Abstract Path planning algorithms based on sampling have been widely studied and applied in recent years, among which the Informed-RRT* algorithm is a typically progressive optimization algorithm. To overcome weakness of low efficiency algorithm, an improved AIRRT* (Adaptive Informed-RRT*) proposed, can greatly improve quality optimized paths. According to node distribution initial path, appropriate construction areas are dynamically selected first process direct local sampling. Then collision detection reconstruction performed. Unlike traditional determines area be reconstructed firstly, then performs area, finally reconstructs path efficiency. In addition, reduce searching difficulty global nodes, invalid nodes removed reconstruction, limits growth optimization. compared with common through simulation experiments, proves that has obvious advantages good applicability varied scenarios.