Bi-directional Adaptive Probabilistic Method with a Triangular Segmented Interpolation for Robot Path Planning in Complex Dynamic-Environments

Path planning is a fundamental aspect of mobile robots and autonomous systems. Methods path are used in robotics to create for robot or system follow from starting position goal one while avoiding obstacles satisfying any additional conditions. There many different methods plan the path, including probabilistic methods, heuristics-based approaches, optimization-based methods. In this paper, we propose new method called Dynamic Adaptive RRT-connect with Triangular Segmented Interpolation. Our improves traditional RRT algorithms by using an Adaptive-RRT approach, where random node chosen as increase tree exploration. Then, use Bi-directional scheme further enhance convergence time cost. Additionally, our employs Interpolation (TSI) improve length smoothness. Finally, operate within dynamic environment depending on Window Approach (DWA). Experiments variety environments have shown that proposed achieves better than individually terms computation (reduced 90-80%), cost 82-63%), (shorten 17-12%) besides ability avoid efficiently.