PQ-RRT*: An improved path planning algorithm for mobile robots

作者：

Highlights：

• Propose a sampling-based asymptotically optimal path planning algorithm.

• The proposed algorithm guarantees a fast convergence rate.

• Theoretical proof of asymptotic optimality and fast convergence rate is given.

摘要

•Propose a sampling-based asymptotically optimal path planning algorithm.•The proposed algorithm guarantees a fast convergence rate.•Theoretical proof of asymptotic optimality and fast convergence rate is given.

论文关键词：Path planning,Sampling-based algorithms,Rapidly-exploring random tree (RRT),Optimal path planning

论文评审过程：Received 21 September 2019, Revised 25 January 2020, Accepted 30 March 2020, Available online 6 April 2020, Version of Record 10 April 2020.

论文官网地址：https://doi.org/10.1016/j.eswa.2020.113425