Improved RRT-based path planning algorithm for 2D mobile robots

Abstract

This paper proposes an improved RRT algorithm based on the cellular decomposition method. In the constructed two-dimensional plane, the space is decomposed into traversable regions and obstacle regions. Subsequently, based on the relationships between adjacent regions, random sampling points are constrained within neighboring regions until expansion reaches the region containing the target node. The planned route is then optimized to effectively address the issue of excessive turning points. Simulation results demonstrate that the improved RRT algorithm enhances path planning accuracy and efficiency in the application of two-dimensional mobile robot navigation, reducing travel distances and lowering cost consumption.