An Improved Robot Path Planning Algorithm Based on Bi-RRT

Aiming at the problems of low path generation efficiency, untargeted expansion direction, slow convergence speed and many redundant nodes of the Bi-RRT algorithm, an improved Bi-RRT algorithm is proposed that combines the advantages of heuristic information and Dijkstra algorithm. This algorithm optimizes the node selection strategy through heuristic information and combines the shortest path optimization advantages of Dijkstra's algorithm to find the optimal collision-free path from the starting point to the target point. Simulation results in multiple sets of complex environments show that the improved algorithm has significantly improved in terms of planning time, path length, number of redundant nodes, and number of iterations, verifying the superiority of the improved algorithm.