Improvement of the APF-RRT*-Connect Algorithm for Efficient Path Planning in 3D Environments

This paper presents an improved Artificial Potential Field -Rapidly-exploring Random Tree Star-Connect algorithm for three-dimensional environments.The improved method integrates the Artificial Potential Field during path generation to optimize each newly generated node in real-time.This approach reduces the number of node optimization processes, collision detections and optimizes the target nodes in the attractive potential field.Through Matlab simulation, the paper compares the path length and planning time of the traditional Artificial Potential Field -Rapidly-exploring Random Tree Star-Connect algorithm and the improved algorithm.The results indicate that the improved algorithm can find shorter paths in less time and enhances the smoothness of the path.