Efficient path planning for autonomous vehicles based on RRT* with variable probability strategy and artificial potential field approach

Abstract

Abstract With the rapid development of autonomous driving technology, path planning has gained significant attention as it holds great potential for improving safety. The Rapidly-exploring Random Tree star(RRT*) algorithm has attracted much attention because of its good adaptability and expansibility. However, how solving problems in the RRT* algorithm such as slow convergence time, significant search range randomness, and unpredictability is a challenge. Therefore, an RRT* enhancement algorithm combining variable probability goal-bias strategy and artificial potential field(APF) method(Improved A-RRT*) is proposed in this paper. Firstly, the variable probability goal-bias strategy is introduced in the sampling process to make random tree expand towards the target direction and improve the directional searchability of the random tree. Secondly, the potential field function in APF is improved to prevent falling into local optimum problems during path generation. Thirdly, improved APF is combined with RRT*, the target generates a gravitational field on random tree, and the obstacle generates a repulsive force on it, leading random tree to grow toward the target region. Finally, the proposed algorithm is compared with RRT* algorithm and its derivative algorithm. The experimental results demonstrate that the proposed algorithm has obvious optimizations in convergence speed and path quality.