Kinematic Constrained Bi-directional RRT with Efficient Branch Pruning for robot path planning

作者：

Highlights：

• A novel Bi-directional RRT path planning scheme.

• A local path planner taking into account the kinematic constraints.

• An efficient branch pruning strategy.

• The proposed KB-RRT* can achieve better performance in path planning.

摘要

•A novel Bi-directional RRT path planning scheme.•A local path planner taking into account the kinematic constraints.•An efficient branch pruning strategy.•The proposed KB-RRT* can achieve better performance in path planning.

论文关键词：Path planning,RRT,Bi-directional search,Robot

论文评审过程：Received 1 December 2019, Revised 28 October 2020, Accepted 25 December 2020, Available online 30 December 2020, Version of Record 10 January 2021.

论文官网地址：https://doi.org/10.1016/j.eswa.2020.114541