南京信息工程大学学报2026，Vol.18Issue(3)：362-371,10.DOI:10.13878/j.cnki.jnuist.20250613001
基于改进APF-Bi-RRT*算法的移动机器人路径规划研究
Mobile robot path planning via an improved APF-Bi-RRT* algorithm
摘要
Abstract
To address the issues of sampling point redundancy,low-quality path planning,and excessive path cur-vature in the Bidirectional Rapidly-exploring Random Tree(Bi-RRT*)algorithm for mobile robot path planning,an improved APF-Bi-RRT* algorithm is proposed.First,a dynamic target bias function is introduced into the Bi-RRT*to reduce the number of sampling points and improve the path planning efficiency.Second,a dynamic repulsion co-efficient is incorporated into the Artificial Potential Field(APF)to enable real-time adjustment of the repulsive force,thereby enhancing the quality of the path planning.Finally,the pruning algorithm is improved by integrating a safe distance detection strategy combined with cubic B-spline curves to alleviate the path curvature.The proposed algorithm was validated through simulation experiments in diverse environments.The results show that it improves planning efficiency by 16.46％,22.52％,and 62.68％compared to the APF-Bi-RRT*,Bi-RRT*,and RRT* algo-rithms,respectively.The improved algorithm significantly reduces computation time and the number of sampling points,while achieving shorter path lengths and higher smoothness.关键词
路径规划/Bi-RRT*算法/人工势场/剪枝算法/三次B样条Key words
path planning/Bi-RRT* algorithm/artificial potential field(APF)/pruning algorithm/cubic B-spline分类
信息技术与安全科学引用本文复制引用
韦伟,陈宇,齐文..基于改进APF-Bi-RRT*算法的移动机器人路径规划研究[J].南京信息工程大学学报,2026,18(3):362-371,10.基金项目
辽宁工业大学博士科研启动基金(XB2021003) （XB2021003）
