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Journal of System Simulation

Abstract

Abstract: To improve the efficiency and quality of dynamic path planning for mobile robots in complex environments, this paper proposed a path planning algorithm that combined an improved RRT-connect with the DWA. Two expanding random trees were introduced for alternating expansion, and a dynamically restricted sampling area was set to reduce the randomness of the sampling process while ensuring the probability completeness of the algorithm. A target bias adaptive step size strategy was employed to enhance the target orientation of the random tree expansion process. A greedy strategy was adopted to prune redundant nodes in the path and smooth the global path to obtain the globally optimized path. The DWA was employed to track the global path, while the evaluation function was improved by introducing a path tracking evaluation function with an adaptive weight strategy. At the same time, a path correction mechanism was introduced to remove invalid local target points and avoid the phenomenon of backtracking. Simulation results demonstrate that compared with the previous method, the proposed algorithm reduces running time by 36.18%, 68.61%, and 89.33% and shortens path length by 17.61%, 17.48%, and 12.33% in different static environments. In dynamic environments, it reduces running time by 31.46% and shortens path length by 9.21%, while consistently ensuring path safety.

First Page

2545

Last Page

2556

CLC

TP242.6

Recommended Citation

Luo Yi, Deng Jia. Path Planning for Mobile Robots Based on Improved RRT-Connect and DWA Fusion [J]. Journal of System Simulation, 2025, 37(10): 2545-2556.

Corresponding Author

Deng Jia

DOI

10.16182/j.issn1004731x.joss.24-0487

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