Research on path planning algorithm of two - dimensional mobile robots based on improved RRT*

With the rapid development of intelligent robot technology, the path - planning problem of mobile robots has received extensive attention. The traditional RRT* algorithm is prone to fall into local optimal solutions in complex and narrow environments, and the generated paths are not smooth enough. For this reason, this paper proposes an improved RRT* algorithm. By introducing the improved RRT* and APF algorithms to optimize the path, the robustness and path-planning efficiency of the algorithm in narrow environments are improved. The simulation experiment results show that the improved algorithm is superior to the traditional RRT* algorithm in terms of path length, planning success rate, and number of iterations.