Improved RRT*-Connect Based on MATLAB

The article analyzes an improved RRT*-Connect path planning algorithm based on MATLAB software.First, the sampling domain of the algorithm is changed to an elliptical sampling domain.Second, adaptive compensation expansion is introduced to accelerate the search speed of the path planning algorithm.Finally, the algorithm is combined with a greedy algorithm to optimize the path.Simulation results show that this algorithm significantly improves both the path length and planning time compared to the traditional RRT*-connect algorithm.