Optimal Path Planning for Construction Region Based on Potential Function

Rapidly Exploring Random Tree Star (RRT*) obtains the optimal path for high-dimensional complex dynamic environments by randomly sampling nodes. Although RRT* has been proven to have probabilistic completeness and asymptotic optimality, there is still a contradiction between optimal solution and rapidity. Based on the problem, we will introduce an algorithm, Potential Region RRT*. Region is constructed through the necessary information in the space, such as root nodes, the goal node, and various obstacles. The size of the sampling area is limited by the area and unnecessary sampling points are reduced. The reduction of sampling points influence the optimal solution of the path, therefore artificial potential field method is integrated into the algorithm to get a better solution.