A Novel AGV Path Planning Approach for Narrow Channels Based on the Bi-RRT Algorithm with a Failure Rate Threshold

• DOI: 10.3390/s23177547
• Publication Date: 2023-08-31T15:45:51Z
• Authors: Bin Wu; Wei Zhang; Xiaonan Chi; Di Jiang; Yang Yi; Yi Lu
• Keywords: Inflection point; Path length; Random tree; Speedup; Fast path; Tree (set theory); Pruning

The efficiency of the rapidly exploring random tree (RRT) falls short when efficiently guiding targets through constricted-passage environments, presenting issues such as sluggish convergence speed and elevated path costs. To overcome these algorithmic limitations, we propose a narrow-channel path-finding algorithm (named NCB-RRT) based on Bi-RRT with addition our proposed research failure rate threshold (RFRT) concept. Firstly, three-stage search strategy is employed to generate sampling points guided by real-time rates. By means balance strategy, two randomly growing trees are established perform searching, which improves success in narrow channel accelerating reducing number iterations required. Secondly, parent node re-selection pruning integrated. This shortens length greatly reduces redundant nodes inflection points. Finally, optimized utilizing segmented quadratic Bezier curves achieve smooth trajectory. shows that NCB-RRT better able adapt complex environment, performance also improved terms Compared RRT, RRT* algorithms, increased 2400%, 1900% 11.11%, respectively.