Trajectory optimization and obstacle avoidance of autonomous robot using Robust and Efficient Rapidly Exploring Random Tree.

Abstract

One of the key challenges in robotics is the motion planning problem. This paper presents a local trajectory planning and obstacle avoidance strategy based on a novel sampling-based path-finding algorithm designed for autonomous vehicles navigating complex environments. Although sampling-based algorithms have been extensively employed for motion planning, they have notable limitations, such as sluggish convergence rate, significant search time volatility, a vast, dense sample space, and unsmooth search routes. To overcome the limitations, including slow convergence, high computational complexity, and unnecessary search while sampling the whole space, we have proposed the RE-RRT* (Robust and Efficient RRT*) algorithm. This algorithm adapts a new sampling-based path-finding algorithm based on sampling along the displacement from the initial point to the goal point. The sample space is constrained during each stage of the random tree's growth, reducing the number of redundant searches. The RE-RRT* algorithm can converge to a shorter path with fewer iterations. Furthermore, the Choose Parent and Rewire processes are used by RE-RRT* to improve the path in succeeding cycles continuously. Extensive experiments under diverse obstacle settings are performed to validate the effectiveness of the proposed approach. The results demonstrate that the proposed approach outperforms existing methods in terms of computational time, sampling space efficiency, speed, and stability.