Chengchen Zhuge1,2,3,*, Qun Wang1,2,3, Jiayin Liu1,2,3, Lingxiang Yao4
Computer Systems Science and Engineering, Vol.39, No.1, pp. 107-119, 2021, DOI:10.32604/csse.2021.016273
Abstract The Rapidly-exploring Random Tree (RRT) algorithm is an efficient path-planning algorithm based on random sampling. The RRT* algorithm is a variant of the RRT algorithm that can achieve convergence to the optimal solution. However, it has been proven to take an infinite time to do so. An improved Quick-RRT* (Q-RRT*) algorithm based on a virtual light source is proposed in this paper to overcome this problem. The virtual light-based Q-RRT* (LQ-RRT*) takes advantage of the heuristic information generated by the virtual light on the map. In this way, the tree can find the initial solution quickly. Next, the LQ-RRT* algorithm… More >
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